L2 disturbance attenuation control for path following of AUV in 3D

Because of the nonlinear hydrodynamic damping and the external current disturbances, the problem of autonomous underwater vehicle (AUV) path following control has not been solved perfectly. Based on the estimation error generated by neural network approaching nonlinear hydrodynamic damping and external disturbances, this paper presents a robust neural network control method based on the L₂ disturbance attenuation. The simulation results show that the designed controller can better attenuate the disturbance of the nonlinear hydrodynamic damping and ocean currents. The accurate three-dimensional path following of AUV can be achieved.