Way-point tracking control for a biomimetic underwater vehicle based on backstepping

In this paper, a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle (BUV) propelled by undulatory fins. First, the system design and the model of the BUV are presented. Compared with traditional autonomous underwater vehicles (AUVs) propelled by screw propellers, the concept design enhances the maneuverability and stability of AUVs at low speed. Then the way-point tracking problem of the BUV is formulated. Moreover, a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this BUV. In the end, simulations demonstrate the performance of the proposed way-point tracking controller.