Adaptive optimal 3D nonlinear compound line-of-sight trajectory tracking control for over-actuated AUVs in attitude space

Abstract

This paper is concentrated on three-dimensional (3D) trajectory tracking control for over-actuated autonomous underwater vehicles (AUVs) in attitude space. In order to design the guidance, navigation, and control system for this problem, a nonlinear compound line-of-sight (NCLOS) guidance law is introduced to stabilize the position errors. Considering the nonlinear relationship between hydrodynamic angle and orientation angle, the kinematic controller is designed based on the NCLOS guidance law to converge the attitude errors, especially in roll degree of freedom. Due to the perturbation of parameters and uncertain interferences, a dynamic controller is proposed based on fast terminal sliding mode control and adaptive anti-interference law to ensure the finite-time stability for the filtering errors of virtual velocity by backstepping technology. Also, the global stability of the whole system is verified. After that, a damped BFGS sequential quadratic programming algorithm is introduced to solve the multi-objectives and multi-constraints optimization problem for the rudder control allocation in attitude space. Finally, the numerical simulations are conducted with validity and adaptability performances in 3D trajectory tracking control for over-actuated AUVs.