Abstract: To deal with the problem of 3D path-following control for underactuated autonomous underwater vehicles (AUV). Virtual guidance law is introduced based on Serret-Frenet frame, the 3D path-following kinematic error model is established on the basis of considering the angles of attack and sideslip. First of all, the kinematics controller is designed according to the theory of Lyapunov by introducing two approaching angles. Then the dynamic controller is developed based on the theory of sliding mode control (SMC), so that the asymptotic stability and robustness of the control system can be guaranteed. In order to reduce chattering, the uncertainty of the model is estimated through the disturbance observer. Simulation results show that the controller has good robustness to the model parameter uncertainty. Accurate tracking of the 3D path can be realized.

Key words:  , AUV, path-following, SMC, disturbance observer

摘要： 针对欠驱动自主水下航行器（AUV）的三维路径跟踪控制问题。基于(Serret-Frenet，S-F)坐标系引入了虚拟向导，并在考虑攻角和漂角的基础上建立了三维路径跟踪运动学误差模型。首先通过引入两个趋近角并根据李雅普诺夫（Lyapunov）理论设计运动学控制器，然后基于滑模控制（SMC）理论设计动力学控制器，从而保证了控制系统的渐近稳定性和鲁棒性。为了降低抖振应用干扰观测器对模型的不确定性进了估计。仿真结果表明该控制器对模型参数的不确定性具有较好的鲁棒性,能够实现对三维路径的精确跟踪。

关键词: 欠驱动自主水下航行器, 路径跟踪, 滑模控制, 干扰观测器