J Shanghai Jiaotong Univ Sci ›› 2022, Vol. 27 ›› Issue (3): 383-392.doi: 10.1007/s12204-022-2446-1

• Naval Architecture and Ocean Engineering • Previous Articles     Next Articles

Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺)   

  1. (Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, Zhejiang, China)
  • Received:2021-05-31 Online:2022-05-28 Published:2022-06-23

Abstract: A three-dimensional stabilization problem for underactuated autonomous underwater vehicles (AUVs) is addressed in this paper. A novel coordinate transformation form consisting of state modifications and input transformations is introduced such that the whole system is divided into two decoupled one-order subsystems. Some switching functions are presented to further decouple the underactuated dynamics and to produce persis tently exciting (PE) signals for those underactuated states. Based on the aforementioned results, a quite simple control law is designed to achieve global three-dimensional asymptotic convergence of all states of underactuated AUVs. Comparative simulations are carried out to validate the effectiveness and performance of the proposed control scheme.

Key words: autonomous underwater vehicle (AUV), underactuated systems, three-dimensional stabilization, switching function

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