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Nonlinear path following of autonomous underwater vehicle considering uncertainty

In order to complete nonlinear path following smoothly and accurately, this paper proposes a method utilizing the Serret-Frenet Line-of-Sight (LOS) guidance with adaptive compensation in the horizontal plane. All regular paths are feasible. Our method takes three steps to accomplish the path following. First, the guidance law calculates the desired yaw angle. Then an adaptive compensation is added on the desired yaw which considering uncertainty and input saturation. Last, the PID controller is extended to cope with the yaw tracking and velocity control. Simulations and outfield experiments are conducted to verify the feasibility and superiority of the novel approach.