This paper addresses the problem of three-dimensional trajectory tracking control for underactuated autonomous underwater vehicles in the presence of parametric uncertainties, environmental disturbances and input saturation. First, a virtual guidance control strategy is established on the basis of tracking error kinematics, which resolves the overall control system into two cascade subsystems. Then, a first-order sliding mode differentiator is introduced in the derivation to avoid tedious analytic calculation, and a Gaussian error function-based continuous differentiable symmetric saturation model is explored to tackle the issue of input saturation. Combined with backstepping design techniques, the neural network control method and an adaptive control approach are used to estimate composite items of the unknown uncertainty and approximation errors. Meanwhile, Lyapunov-based stability analysis guarantees that control error signals of the closed-loop system are uniformly ultimately bounded. Finally, simulation studies are conducted for the trajectory tracking of a moving target and a spiral line to validate the effectiveness of the proposed controller.

本文研究了存在参数不确定性，环境干扰和输入饱和的情况下，欠驱动自动水下航行器的三维轨迹跟踪控制问题。首先，在跟踪误差运动学的基础上建立了虚拟制导控制策略，将整个控制系统分解为两个级联子系统。然后，在推导中引入一阶滑模微分器以避免繁琐的解析计算，并探索了基于高斯误差函数的连续可微对称饱和度模型来解决输入饱和度的问题。结合反推设计技术，使用神经网络控制方法和自适应控制方法来估计未知不确定性和近似误差的复合项。同时，基于Lyapunov的稳定性分析可确保闭环系统的控制误差信号最终均匀地有界。最后，对运动目标和螺旋线的轨迹跟踪进行了仿真研究，以验证所提出控制器的有效性。