Rotation matrix-based finite-time trajectory tracking control of benthic AUV with communication bandwidth limitation

The aim of this study was to address the trajectory tracking control problem of benthic autonomous underwater vehicles (AUVs) subjected to the unwinding phenomenon, lumped uncertainties, and communication bandwidth limitations. The hydrodynamic model of the AUV expressed using the Euler angle exhibits an unwinding phenomenon, and the attitude angle cannot be uniquely represented. Hence, the attitude dynamics model is restructured using a rotation matrix to solve this problem. Because of the growing complexity of the controller design for employing a rotation matrix representation for the attitude model, it is essential to adopt an alternative error format that facilitates simplified calculations. Subsequently, a new singularity-free sliding mode control law is proposed to satisfy finite-time convergence. Furthermore, a bounded adaptive law is introduced to enhance the robustness under lumped uncertainties. Additionally, an event-triggering mechanism is implemented for the control laws to alleviate the communication burden on the AUV control system. Theoretical analysis and simulations demonstrate the effectiveness and superiority of the proposed method.