Sliding Mode Motion Control for AUV with Dual-Observer Considering Thruster Uncertainty

Sliding Mode Motion Control for AUV with Dual-Observer Considering Thruster Uncertainty

In the motion control of AUVs, especially those driven by multiple thrusters, the thruster misalignment and thrust loss cause the actual force and moment applied to the AUV to deviate from that desired, making accurate and fast motion control difficult. This paper proposes a sliding mode control met...

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Bibliographic Details
Main Authors: Yushan Sun, Puxin Chai, Guocheng Zhang, Tian Zhou, Haotian Zheng
Format: Article
Language:English
Published: MDPI AG 2022-03-01
Series:Journal of Marine Science and Engineering
Subjects:
autonomous underwater vehicle
thruster uncertainty
disturbance observer
sliding mode control
Online Access:https://www.mdpi.com/2077-1312/10/3/349

Internet

https://www.mdpi.com/2077-1312/10/3/349

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