Predefined-Time Fault-Tolerant Trajectory Tracking Control for Autonomous Underwater Vehicles Considering Actuator Saturation

Predefined-Time Fault-Tolerant Trajectory Tracking Control for Autonomous Underwater Vehicles Considering Actuator Saturation

This paper presents the design of two predefined-time active fault-tolerant controllers for the trajectory tracking of autonomous underwater vehicles (AUVs) which can address actuator faults without causing actuator saturation. The first controller offers improved steady-state trajectory tracking pr...

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Bibliographic Details
Main Authors: Ye Li, Jiayu He, Qiang Zhang, Wenjun Zhang, Yanying Li
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Actuators
Subjects:
predefined-time control
AUV trajectory tracking control
actuator saturation
fault-tolerant control
Online Access:https://www.mdpi.com/2076-0825/12/4/171

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