Path-following control of an AUV in the horizontal plane with constant ocean currents

Taking aim at the horizontal path-following control of an under-actuated AUV in the presence of constant ocean currents, the kinematic and dynamic models with disturbance of constant ocean currents of AUV were proposed; the path-following errors and their dynamic model were described by the Serret-Frenet coordinate which uses the free reference point as original point on the path; based on Lyapunov theory and Backstepping techniques, the kinematic controller and the dynamic controller were designed respectively, which ensure asymptotic convergence of the path-following errors. Comparison of simulated results of the path-following trajectories between with and without ocean currents was performed. The simulated results show that the method can effectively overcome disturbance of constant ocean currents to ensure asymptotic convergence of the path tracking errors.