Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control

Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control

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This paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations.A path-following error system is built in a path frame using the virtual guidance method.The proposed cascaded closed-loop control scheme can be described in two separate Wrist Rests steps: (1) A kinematic law based on a finite-time backstepping control (FTBSC) is introduced to transform the 3D path-following position errors into the command velocities; (2) The actual control inputs are designed in the dynamic controller using an adaptive fixed-time disturbance observer (AFTDO)-based FTBSC to stabilize the velocity tracking errors.Moreover, the adverse effects of magnitude and rate saturations are reduced Phosphatidylcholine by an auxiliary compensation system.

A Lyapunov-based stability analysis proves that the path-following errors converge to an arbitrarily small region around zero within a finite time.Comparative simulations illustrate the effectiveness and robustness of the proposed controller.