This paper provides a model-parameter-free control strategy for the trajectory tracking problem of the autonomous underwater vehicle exposed to external disturbances and actuator failures. Two control architectures have been constructed such that the system states could be forced to the desired trajectories with acceptable performance. By combining sliding mode control (SMC) technology and adaptive algorithm, the first control architecture is developed for tracking missions under healthy actuators. Taking actuator failures scenario into account, system reliability is improved considerably by the utilization of a passive fault-tolerant technology in the second controller. Benefitting from properties of Euler–Lagrange systems, the nonlinear dynamics of the underwater vehicles could be handled properly such that the proposed controllers could be developed without model parameters. Finally, the validity of the proposed controllers is demonstrated by theoretical analysis and numerical simulations.

本文为暴露于外部干扰和执行器故障的自主水下航行器的轨迹跟踪问题提供了一种无模型参数的控制策略。已经构建了两种控制架构，以便可以将系统状态强制为具有可接受性能的所需轨迹。通过结合滑模控制 (SMC) 技术和自适应算法，开发了第一个控制架构，用于在健康执行器下跟踪任务。考虑到执行器故障情况，通过在第二个控制器中使用被动容错技术，系统可靠性大大提高。受益于欧拉-拉格朗日系统的性质，可以正确处理水下航行器的非线性动力学，从而可以在没有模型参数的情况下开发所提出的控制器。最后，通过理论分析和数值模拟证明了所提出控制器的有效性。