Trajectory tracking control with predefined dynamic performance for underactuated autonomous underwater vehicle.

To meet the high-performance trajectory tracking requirements of underactuated autonomous underwater vehicle (AUV) under complex disturbances and parameter uncertainty, a three-dimensional trajectory tracking controller method with predefined dynamic performance and convergence time is proposed. Firstly, by extending the forward position channel of the underactuated AUV, and a multi-input multi-output trajectory tracking control-oriented model is developed. Subsequently, by combining dynamic process functions with predefined-time control theory, a dynamic performance-predefined trajectory tracking control system is established, which allows the transient quality of AUV trajectory tracking to be determined by dynamic process functions, and the actual convergence time of tracking errors to be predefined by a single control parameter. Finally, to avoid control singularities and the " differential explosion" phenomenon, the controller design incorporates the absolute value correction method and radial basis function neural network (RBFNN) fitting method. Numerical simulation results indicate that the proposed controller significantly improves the disturbance rejection and transient quality of underactuated AUV, achieving fact, smooth, and High-performance trajectory tracking. [ABSTRACT FROM AUTHOR]