This paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations. A path-following error system is built in a path frame using the virtual guidance method. The proposed cascaded closed-loop control scheme can be described in two separate steps: (1) A kinematic law based on a finite-time backstepping control (FTBSC) is introduced to transform the 3D path-following position errors into the command velocities; (2) The actual control inputs are designed in the dynamic controller using an adaptive fixed-time disturbance observer (AFTDO)-based FTBSC to stabilize the velocity tracking errors. Moreover, the adverse effects of magnitude and rate saturations are reduced by an auxiliary compensation system. A Lyapunov-based stability analysis proves that the path-following errors converge to an arbitrarily small region around zero within a finite time. Comparative simulations illustrate the effectiveness and robustness of the proposed controller.
Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control
2025
Article (Journal)
Electronic Resource
Unknown
Metadata by DOAJ is licensed under CC BY-SA 1.0
Robust singular perturbation control for 3D path following of underactuated AUVs
DOAJ | 2021
|Pre-Filtered Backstepping Control for Underactuated Ship Path Following
Online Contents | 2019
|Path Following Backstepping Control of Underactuated Unmanned Underwater Vehicle
British Library Conference Proceedings | 2015
|3D Path Following Control of Underactuated UUV Based on Backstepping
British Library Online Contents | 2012
|