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

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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.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant Nos. 51579022, 51209025) and Fundamental Research Funds for the Central Universities of China (Grant Nos. 3132016313, 3132016339).

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Authors and Affiliations

  1. College of Traffic Equipment and Ocean Engineering, Dalian Maritime University, Dalian, China

    Xiao Liang & Xingru Qu

  2. College of Naval Architecture and Ocean Engineering, Harbin Engineering University, Harbin, China

    Lei Wan

  3. College of Naval Architecture and Marine Engineering, Shandong Jiaotong University, Jinan, China

    Qiang Ma

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  1. Xiao Liang
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  2. Xingru Qu
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  3. Lei Wan
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  4. Qiang Ma
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Correspondence to Xiao Liang.

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Liang, X., Qu, X., Wan, L. et al. Three-Dimensional Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control. Int. J. Fuzzy Syst. 20, 640–649 (2018). https://doi.org/10.1007/s40815-017-0386-y

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  • DOI: https://doi.org/10.1007/s40815-017-0386-y

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