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Volume 13
Issue 10
10.3390/jmse13101915
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Three-Dimensional Trajectory Tracking for Underactuated Quadrotor-Like Autonomous Underwater Vehicles Subject to Input Saturation

by
Chunchun Cheng
1,*,
Xing Han
2,
Pengfei Xu
3,
Yi Huang
4,5,
Liwei Kou
2 and
Yang Ou
6
1
Department of Basic Sciences, Shanxi Agricultural University, Taigu 030801, China
2
College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
3
Department of Mathematics, Shanxi Normal University, Taiyuan 030031, China
4
Sanya Institute, Hunan University of Science and Technology, Sanya 572025, China
5
School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan 411201, China
6
State Grid Shanxi Provincial Power Limited Company Yuncheng Power Supply Company, Yuncheng 044000, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(10), 1915; https://doi.org/10.3390/jmse13101915 (registering DOI)
Submission received: 18 August 2025 / Revised: 30 September 2025 / Accepted: 3 October 2025 / Published: 5 October 2025
(This article belongs to the Special Issue Advanced Research in Guidance, Navigation, and Control for Autonomous Surface Vehicle)
Versions Notes

Abstract

This paper focuses on the design of a three-dimensional trajectory tracking controller for underactuated quadrotor-like autonomous underwater vehicles (QAUVs) subject to actuator saturation. A hand position method with a signum function is proposed to handle the under-actuation of QAUVs, while avoiding trajectory tracking in the opposite direction. The dynamic surface control (DSC) technique is integrated to eliminates the complexity explosion problem of standard backstepping. An auxiliary dynamic system is employed to handle input saturation. By using Lyapunov stability theory and phase plane analysis, it is proved that the proposed control law ensures that the QAUVs converge to the desired position with arbitrarily small errors, while guaranteeing the uniform ultimate boundedness of the whole closed-loop system. Comparative simulation results verify the effectiveness of the proposed control law.
Keywords: backstepping technique; input saturation; Lyapunov theory; dynamic surface control; trajectory tracking backstepping technique; input saturation; Lyapunov theory; dynamic surface control; trajectory tracking

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MDPI and ACS Style

Cheng, C.; Han, X.; Xu, P.; Huang, Y.; Kou, L.; Ou, Y. Three-Dimensional Trajectory Tracking for Underactuated Quadrotor-Like Autonomous Underwater Vehicles Subject to Input Saturation. J. Mar. Sci. Eng. 2025, 13, 1915. https://doi.org/10.3390/jmse13101915

AMA Style

Cheng C, Han X, Xu P, Huang Y, Kou L, Ou Y. Three-Dimensional Trajectory Tracking for Underactuated Quadrotor-Like Autonomous Underwater Vehicles Subject to Input Saturation. Journal of Marine Science and Engineering. 2025; 13(10):1915. https://doi.org/10.3390/jmse13101915

Chicago/Turabian Style

Cheng, Chunchun, Xing Han, Pengfei Xu, Yi Huang, Liwei Kou, and Yang Ou. 2025. "Three-Dimensional Trajectory Tracking for Underactuated Quadrotor-Like Autonomous Underwater Vehicles Subject to Input Saturation" Journal of Marine Science and Engineering 13, no. 10: 1915. https://doi.org/10.3390/jmse13101915

APA Style

Cheng, C., Han, X., Xu, P., Huang, Y., Kou, L., & Ou, Y. (2025). Three-Dimensional Trajectory Tracking for Underactuated Quadrotor-Like Autonomous Underwater Vehicles Subject to Input Saturation. Journal of Marine Science and Engineering, 13(10), 1915. https://doi.org/10.3390/jmse13101915

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