This article addresses the design of adaptive target tracking control for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by ocean current. Firstly, based on the line-of-sight method, the moving target tracking guidance strategy is designed, and the target tracking reference speed and reference angular velocity are given. According to the obtained reference speed and reference angular velocities, the reference control quantity is differentiated and filtered based on dynamic surface control. The target tracking controller is designed based on radial basis function neural network and nonsingular terminal sliding mode control and adaptive techniques. Lyapunov stability principle is utilized to ensure the asymptotic stability of the target tracking controller. Simulation of target tracking is carried out to illustrate the effectiveness of the proposed controller.

中文翻译：

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基于自适应非奇异终端滑模控制的欠驱动自主水下航行器目标跟踪控制

本文讨论了受不确定动力学和洋流引起的外部干扰影响的欠驱动自主水下航行器的自适应目标跟踪控制设计。首先基于视距法设计运动目标跟踪制导策略，给出目标跟踪参考速度和参考角速度。根据获得的参考速度和参考角速度，基于动态表面控制对参考控制量进行微分和过滤。目标跟踪控制器是基于径向基函数神经网络和非奇异终端滑模控制和自适应技术设计的。利用李雅普诺夫稳定性原理来保证目标跟踪控制器的渐近稳定性。