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An intelligent control strategy is proposed to eliminate the actuatorsaturation problem that exists in the trajectory tracking process of unmannedunderwater vehicles (UUV). The control strategy consists of two parts: for thekinematic modeling part, a fuzzy logic-refined backstepping control isdeveloped to achieve control velocities within acceptable ranges and errors ofsmall fluctuations; on the basis of the velocities deducted by the improvedkinematic control, the sliding mode control (SMC) is introduced in the dynamicmodeling to obtain corresponding torques and forces that should be applied tothe vehicle body. With the control velocities computed by the kinematic modeland applied forces derived by the dynamic model, the robustness and accuracy ofthe UUV trajectory without actuator saturation can be achieved.

A Fuzzy Logic-based Cascade Control without Actuator Saturation for the Unmanned Underwater Vehicle Trajectory Tracking