Virtual-Target based Path-Following in the 3D Underwater Environment

This work focuses on the design of a 3D path-following strategy for under-actuated underwater vehicles. The modeling of the problem relies on the Serret-Frenet apparatus, leading to the definition of the position error dynamics, with respect to a generic smooth curve in the operational 3D space. On the basis of such a model, a virtual-target based non-linear guidance law, derived by the exploitation of Lyapunov methodology, is designed. The theoretical proof and simulation results prove the functionality and reliability of the proposed approach.