Abstract
This paper addresses the trajectory tracking problem of underactuated autonomous underwater vehicles (AUVs) in the presence of ocean currents on the horizontal plane. The tracking control problem is reduced the problem of stabilizing the nonlinear tracking error system to two separate problems. The backstepping technique is applied to design tracking controller, and the conditions of control gains are derived such that the AUV can track a reference AUV. Simulations results show the effectiveness of the proposed trajectory tracking controller.
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