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This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints. Firstly, four reduced-order extended state observes (ESOs) are designed to estimate the multiple uncertainties, and the estimated values are adopted in the design of kinematic and dynamic controller. Secondly, to address the state constraints, the barrier Lyapunov function is incorporated with the kinematic controller. To resolve the problem of input saturation, the auxiliary design system is utilized in the dynamic controller. To address the problem of “explosion of complexity” inherent in the conventional back-stepping method, a nonlinear tracking differentiator is utilized to obtain the derivative of the desired yaw speed. Finally, the results of numerical simulation are performed to demonstrate the effectiveness of the proposed controller.

Robust path-following control of underactuated AUVs with multiple uncertainties and state constraints