Spatial linear path-following control for an underactuated UUV

The problem of three-dimensional linear path-following for an underactuated UUV is addressed. The path-following guidance law is established by using line of sight (LOS), Serret-Frenet frame and the “virtual vehicle” method. For surge velocity control, steering control and diving control, three dynamic control laws are provided by using the Lyapunov's direct method and backstepping technique, respectively. It is easy proven that this control scheme can force all state errors to globally exponentially converge to zeros. At last, a series of simulation results are provided to illustrate strongly robust and preferably control performance of this control scheme.