AUV 3D Path Following Control under Unknown Current

This paper designs a new sliding mode controller based on the 3D predictor line-of-sight guidance method for the 3D linear path following control problem of Autonomous Underwater Vehicle (AUV) under unknown currents. Firstly, the feedback linearization method is used to convert the nonlinear strongly coupled vehicle model into a second-order linear model, and then the 3D predictor line-of-sight guidance method is designed to predict and compensate for the sea current, sideslip angle and attack angle, and the Lyapunov-Krasovskii equation is established and the error convergence is proved under suitable parameters. After that, the sliding mode controller is designed based on the double power convergence law, and it is shown that the controller achieves stability with suitable parameters. Finally, it is verified by simulation that the AUV is well controlled based on this controller with this line-of-sight guidance method in the presence of unknown currents. This article solves the problem of AUV 3D anti-distrbance path following, providing a theoretical reference for AUV realistic marine environment experiments.