The invention provides an autonomous
underwater vehicle (AUV) three-dimensional
straight path tracking control method with PID (
Piping and Instruments Diagram) feedback
gain. The method comprises the following steps of: step 1, initializing; step 2, calculating a relative position deviation between an AUV and a virtual guide point on a desired track under a Serret-Frenet coordinate
system through an AUV three-dimensional track
tracking error equation; step 3, calculating a virtual controlling quantity of movement speed, a trim angle and a yawing angle of the virtual guide point on the desired track through adopting a
backstepping method based on the feedback
gain; step 4, calculating a virtual controlling quantity of trim angle speed and yawing angle speed of the AUV; and step 5, deducing an under-actuated AUV three-dimensional
path tracking dynamics control law comprising control signals of
propeller thrust, a trim control moment and a yawing control moment, and realizing under-actuated AUV three-dimensional
straight path tracking control. The method can be used for realizing tracking control on a track point and a
straight path track of an AUV three-dimensional space.