中文摘要：

研究了欠驱动自主式水下机器人路径跟踪问题．在Serret—Frenet移动坐标系下，基于虚拟目标机器人建立了路径跟踪误差动力学方程．在此基础上，结合水下机器人动力学方程，设计了基于Lyapunov稳定性理论和反步法技术的控制器．仿真结果表明，提出的非线性反馈控制律能够保证路径跟踪误差快速收敛到零，使机器人沿着参考路径航行．

英文摘要：

This paper researches on the problem of path-following control of underactuated autonomous un- derwater vehicles （AUV）. In Serret-Frenet frame, a path-following error dynamics, corresponding to a virtual target AUV, was constructed. Building on the error dynamics and combining with the vehicle＇s dy- namics, a nonlinear controller based on Lyapunov stable theory and backstepping techniques was devel- oped. The resulting nonlinear feedback control law yields convergence of the path-following error trajecto- ry to zero. The simulation results illustrate the performance of the control system proposed.