Abstract
This paper mainly studies the trajectory tracking problem of six-degree-of-freedom AUV in seafloor three-dimensional space. The mathematical model of AUV is established, the trajectory guidance law is designed by LOS method, the speed and rudder force are compensated by adding PID controller, and the stability of the system is proved by Lyapunov stability criterion. Taking Remus100 as an example, the trajectory tracking simulation of straight line and helix in space is carried out. The simulation results show that the trajectory tracking algorithm can realize the trajectory tracking of AUV.
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