## Journal of Applied Mathematics

• J. Appl. Math.
• Volume 2014, Special Issue (2014), Article ID 714079, 9 pages.

### Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

#### Abstract

This paper addresses the problem of accurate path following control for an underactuated unmanned underwater vehicle (UUV) in the horizontal plane. For an underactuated UUV, the line-of-sight (LOS) guidance method is adopted to map 2D reference trajectory into a desired orientation, and through the tracking of heading to achieve path following, where the sideslip is introduced to modify the desired orientation. In this paper, we propose a method called dynamic surface and active disturbance rejection control (DS-ADRC) to solve the path following control problem. This controller can effectively avoid the phenomenon of explosion of terms in the conventional backstepping method, reduce the dependence on the UUV controller mathematical model, and enhance the antijamming ability. Simulation is carried out to verify the effectiveness of the proposed control method for an underactuated UUV. The results show that, even for this controller with disturbance, the cross-track error of UUV is gradually converged to zero and has some certain robustness.

#### Article information

Source
J. Appl. Math., Volume 2014, Special Issue (2014), Article ID 714079, 9 pages.

Dates
First available in Project Euclid: 27 February 2015

https://projecteuclid.org/euclid.jam/1425051938

Digital Object Identifier
doi:10.1155/2014/714079

Zentralblatt MATH identifier
07010721

#### Citation

Li, Juan; Gao, Haitao; Zhou, Jiajia; Yan, Zheping. Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV. J. Appl. Math. 2014, Special Issue (2014), Article ID 714079, 9 pages. doi:10.1155/2014/714079. https://projecteuclid.org/euclid.jam/1425051938

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