This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

根据时间尺度分解方法，本文提出了一种新的控制方案，用于在未知内部和外部干扰下欠驱动自主水下航行器 (AUV) 的三维 (3D) 路径跟踪。作为图示，通过适当地选择积分器的控制增益，首先在闭环控制系统中首先人工压缩动作。使用奇异微扰理论，积分器被认为是一种快速动态控制律，旨在塑造快速变量的空间配置。然后在缩减模型中独立设计稳定控制器，基于时间尺度分解方法，得到相对简单的控制律。通过构建复合李雅普诺夫函数证明了所得闭环系统的稳定性。最后，提供了仿真结果以证明所提出的控制器在内部和外部干扰下对欠驱动 AUV 进行路径跟踪的有效性。