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.