中文摘要：

本文提出一种生物启发神经动力学模型的自治水下机器人（autonomous underwater vehicles,AUV）三维轨迹跟踪控制算法.将AUV在三维空间的运动分为水平面运动和垂直面运动,针对传统反步轨迹跟踪控制器出现的速度跳变问题,采用生物启发神经动力学模型,通过构造一种简单的中间虚拟变量,同时结合Lyapunov函数设计出轨迹跟踪控制律,使其控制效果在水平面和垂直面都能够达到全局渐近稳定并且有平滑连续的输出结果,克服AUV反步轨迹跟踪控制的速度跳变问题.仿真结果证明了所提控制律的有效性.

英文摘要：

A trajectory tracking control algorithm for autonomous underwater vehicles（AUV） with bio-inspired neurdynamics model is presented.The motion of AUV in three-dimensional space is divided into horizontal movement and vertical movement.To cope with the problem of speed jump in the traditional backstepping trajectory-tracking controller,we introduce an intermediate virtue variable to the bio-inspired neurdynamics model and make use of the Lyapunov function to develop the trajectory-tracking control law.We prove that the control is globally asymptotically stable in both horizontal plane and vertical plane.The simulation validates the correctness and effectiveness of the proposed control law.