Adaptive fuzzy 3-D trajectory tracking control for autonomous underwater vehicle (AUV) using modified integral barrier lyapunov function

Abstract

This paper investigates the adaptive fuzzy trajectory tracking control of under-actuated AUVs in the presence of state constraints, input saturations, and time-varying ocean currents. By proposing a double-loop control scheme, the control problem is divided into kinematic and dynamic control. In kinematic control, an observed-based guidance law and kinematic control law are designed to regulate the vehicle toward the desired trajectory despite the drift caused by unknown ocean currents. Then adaptive fuzzy dynamic surface controllers are introduced in dynamic control which utilizes the barrier Lyapunov function (BLF) to address the system constraints. The stability analysis demonstrates that under the proposed control, all closed-loop signals are uniformly ultimately bounded, and the system constraints are never violated. Finally, extensive numerical simulations are provided to illustrate the effectiveness, feasibility, and robustness of the proposed method.