Trajectory Tracking Control of Underactuated UUV for Underwater Recovery

The trajectory tracking control method of underactuaed UUV for underwater recovry is studied, considering the strong nonlinear and strong coupling of dynamic motion model, and the characteristics of nonholonomic constraints for underactuated UUV. The strategy of trajectory planning is established by inducting a virtual UUV on the reference trajectory which is the tracking target of the controlled vehicle. The method of combining the Back-stepping techniques and Lyapunov functions is applied to design the controller of trajectory tracking, to achieve the tracking mission of “space and time” from the start point to the recovery platform. Finally, the sinusoidal trajectory simulation is tracked during the process of underwater recovery. Simulation results show that controller can accurately achieve the underwater autonomic recovry of UUV.