Adaptive Trajectory Tracking Control for an Underactuated AUV based on Command Filtered Backstepping

作者：Jiang, Yunbiao; Guo, Chen; Yu, Haomiao

来源：37th Chinese Control Conference, CCC 2018, 2018-07-25 To 2018-07-27.

DOI：10.23919/ChiCC.2018.8483941

• Adaptive control strategy
• Back-stepping method
• External uncertainties
• Lyapunov stability theorem
• Parameters perturbations
• Stabilization problems
• Trajectory tracking
• Trajectory tracking problems

To deal with the horizontal trajectory tracking problem for an underactuated AUV in the presence of parameters perturbation and current disturbances, an adaptive control strategy based on the command filtered backstepping method is proposed in this paper. Different from the widely used line of sight (LOS) guidance, a virtual velocity control method is adopted and the trajectory tracking problem is transformed into the error stabilization problem. The dynamic control law is developed by the command filtered backstepping method, which can avoid the singular-value problem that may exist in the traditional backstepping method and relatively reduce the computational complexity. The adaptive law is introduced to deal with the internal and external uncertainties, and the stability of the closed-loop control system is guaranteed by the Lyapunov stability theorem. At last, a series of numerical simulations are demonstrated to illustrate the effectiveness and robustness of the proposed control strategy.

• 出版日期2018