Adaptive fixed-time backstepping control for three-dimensional trajectory tracking of underactuated autonomous underwater vehicles

Abstract

An adaptive fixed-time backstepping control is proposed to achieve the three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the presence of model uncertainty and external disturbances. In this paper, the dynamics of the AUV in terms of five degrees of freedom (DOFs) are discussed. Considering it is an underactuated AUV, a virtual velocity guidance law is derived using the backstepping method. For velocity convergence, an adaptive fixed-time control is derived without model parameters, with adaptive adjusting law tackling system unknows. Theoretical analyses demonstrate that the tracking error converges to a small bounded field within a fixed time in the proposed control scheme. The effectiveness and superiority of the proposed method are verified by simulation results.