A Control Method for Path Following of AUVs Considering Multiple Factors Under Ocean Currents

Abstract

To improve the path-following performance of autonomous underwater vehicles (AUVs) under ocean currents, a control method based on line-of-sight with fuzzy controller (FLOS) guidance and the fuzzy sliding mode controller (FSMC) is proposed. This method considers multiple factors affecting guidance and adaptively determines the optimal heading angle through the fuzzy controller to enhance guidance capability. Additionally, a novel FSMC based on Lyapunov stability theory is designed to suppress the influence of model uncertainty and external disturbances on the control system. Simulations and experiments of the proposed control method demonstrate that it can maintain precise tracking under disturbances, improving path-following performance metrics by more than 15%.

Keywords

• autonomous underwater vehicles
• external disturbances
• look-ahead distance
• model uncertainty