Three-Dimensional Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control

Abstract

This paper addresses the problem of three-dimensional (3D) path following control for underactuated autonomous underwater vehicles in the presence of parameter uncertainties and external disturbances. Firstly, 3D path following error model was established based on virtual guidance method. Then, an adaptive robust control system was proposed using backstepping and sliding mode control, and we adopt fuzzy logic theory to approximate unknown nonlinear function to solve the problems of nonlinearity, uncertainties and external disturbances in the path following. System stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results showed that the controller is of excellent adaptability and robustness in the presence of parameter uncertainties and external disturbances.