Robust Path-Following Control of Underactuated AUVs with Multiple Uncertainties in the Vertical Plane

Robust Path-Following Control of Underactuated AUVs with Multiple Uncertainties in the Vertical Plane

The current study employs a novel nonlinear robust control approach for path-following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties in the vertical plane. Firstly, a nonlinear underactuated AUV model is established to characterize the dynamics of AUV and...

Full description

Bibliographic Details
Main Authors: Jianming Miao, Kankan Deng, Wenrui Zhang, Xi Gong, Jifang Lyu, Lei Ren
Format: Article
Language:English
Published: MDPI AG 2022-02-01
Series:Journal of Marine Science and Engineering
Subjects:
underactuated AUV
path-following
multiple uncertainties
extended state observers (ESOs)
nonlinear tracking differentiator (NTD)
Online Access:https://www.mdpi.com/2077-1312/10/2/238

Internet

https://www.mdpi.com/2077-1312/10/2/238

Similar Items