Abstract: In this paper, through the study of underactuated AUV in horizontal plane motion, according to the plane trajectory tracking control of AUV in nonholonomic constraints, the model of coupling and nonlinear, current interference and the accuracy of the tracking problem is studied, using high gain observer backstepping control method for underactuated AUV trajectory tracking control. The AUV ground coordinate system and the hull coordinate system are defined, and the conversion of the ground coordinate system to the hull coordinate system is complete. The kinematic model and dynamic model of the horizontal plane of the under actuated AUV are established. The underactuated AUV proposes a high gain observer backstepping control scheme, under the premise of ensuring the stability of the tracking system, can effectively improve the tracking accuracy, can eliminate the influence of interference on the control effect, and makes the control input to meet practical engineering constraints. In this paper, the stability of the control method is proved by Lyapunov stability theory. The effectiveness of the designed controller is verified by numerical simulation.

Key words: underactuated Autonomous Underwater Vehicle（AUV）, high gain observer, backstepping method, horizontal plane, trajectory tracking

摘要： 通过研究欠驱动自治水下机器人（AUV）在水平面的运动规律，针对欠驱动AUV水平面轨迹跟踪控制中的非完整约束、模型中的耦合性和非线性、海流干扰、跟踪精度问题进行了深入的研究，运用高增益观测器结合反步控制方法对欠驱动AUV轨迹跟踪进行有效控制。定义了AUV的地面坐标系和船体坐标系，并完成了地面坐标系向船体坐标系的转换，建立了欠驱动AUV的水平面运动学模型和动力学模型。为欠驱动AUV所提出的高增益观测器结合反步控制方案，在保证跟踪系统稳定性的前提下，可以有效地提高跟踪精度，能够消除外界干扰对控制效果的影响，并使得控制输入满足实际工程的应用约束条件。控制方法的稳定性均采用Lyapunov稳定性理论加以证明，并通过数值仿真验证了所设计控制器的有效性。

关键词: 欠驱动自主水下航行器（AUV）, 高增益观测器, 反步法, 水平面, 轨迹跟踪