Adaptive circular path following control of a mini-AUV prototype

Abstract

This paper proposed a controller based on line-of-sight (LOS) guidance and Lyapunov theory for a mini autonomous underwater vehicle (AUV) prototype, to address the problem of adaptive circular path following in clockwise or anti-clockwise direction. First, the overall structure of the mini-AUV system is briefly presented with the hardware components and the software design. Second, the guidance rule and the controller design for the straight-line following and the adaptive circular path following in clockwise or anti-clockwise are formulated in detail. Subsequently, the numerical and experiment results are performed to demonstrate the performance of the motion capability of the vehicle and the effectiveness of the proposed control algorithms.