When unmanned underwater vehicles (UUVs) navigate on the surface, the UUVs’ speed cannot be accurately measured due to the humid environment. This can lead to a decrease in trajectory tracking control accuracy, and in severe cases, it may lead to controller failure. To solve this problem, a novelty speed observer based on real-time position state is proposed, and the UUV trajectory tracking controller is designed based on this observer. First, a speed observer with position status based on the UUV surface navigation kinematics model is proposed. Considering the impact of environmental disturbances, a disturbance observer is designed to observe surge, sway, and yaw torque disturbances. Next, a virtual control law is designed based on speed observations and reference trajectories to solve control laws. Considering the saturation input problem of the UUV driver, a command filter is introduced to constrain the amplitude and speed of the virtual control law. Then, a trajectory tracking sliding mode controller is designed using the virtual control law and the output of the command filter. Meanwhile, the disturbance of surge torque and heading torque is compensated with the observed value of the disturbance observer. The stability of the entire closed-loop control system is analyzed using Lyapunov’s stability theory. Finally, a series of numerical simulations are added to illustrate the method’s effectiveness.
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