A Bio-Inspired Dynamic Path-Following Control of Autonomous Underwater Vehicle

Daqi Zhu and Yue Zhao


Autonomous underwater vehicles, Path-following control, Backstepping control, Bio-inspired shunting model, Kinematic model, Dynamic model


A bio-inspired dynamic path-following control strategy of underactuated autonomous underwater vehicle (AUV) is proposed in this paper. The biologically inspired shunting model is integrated with backstepping method to generate real-time smooth forward and angular velocities, which successfully resolves the speed jump problem in backstepping method. Also, it is capable of avoiding the situations of overlarge control signals. The stability of the control system is analyzed by Lyapunov theory. Effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.

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