Abstract
This paper addresses the three-dimensional tracking and stabilization problems simultaneously for underactuated autonomous underwater vehicles (AUVs) subjected to parametric uncertainties, external disturbances, unmeasured states and input saturation. A modified error state formulation is introduced to produce auxiliary virtual controls for the underactuated kinematics. A new high-gain observer is proposed to estimate unavailable velocities which doesn't need the position and orientation of AUVs to be bounded. Based on the backstepping technique and combinations of high-gain observer and radial-basis-function neural network (RBFNN) approximations, the kinematic and dynamic controllers are designed to force underactuated AUVs to track a time-varying trajectory or/and a stationary point, and guarantees the tracking errors convergent to a bounded neighborhood of the origin. Some comparative simulations are presented to validate the effectiveness and performance of the proposed control scheme.
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