Abstract
The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.
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