Backstepping tracking control of autonomous underwater vehicles with bio-inspired neurdynamics model
生物启发神经动力学模型的自治水下机器人反步跟踪控制

A trajectory tracking control algorithm for autonomous underwater vehicles (AUV) with bio-inspired neurdynamics model is presented. The motion of AUV in three-dimensional space is divided into horizontal movement and vertical movement. To cope with the problem of speed jump in the traditional backstepping trajectory-tracking controller, we introduce an intermediate virtue variable to the bio-inspired neurdynamics model and make use of the Lyapunov function to develop the trajectory-tracking control law. We prove that the control is globally asymptotically stable in both horizontal plane and vertical plane. The simulation validates the correctness and effectiveness of the proposed control law.