Horizontal Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on Contraction Theory

Horizontal Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on Contraction Theory

In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, external environmental disturbances, and actuator satur...

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Bibliographic Details
Main Authors: Caipeng Ma, Jinjun Jia, Tiedong Zhang, Shaoqun Wu, Dapeng Jiang
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Journal of Marine Science and Engineering
Subjects:
underactuated autonomous underwater vehicle
trajectory tracking
actuator saturation
singular perturbation system
contraction theory
Online Access:https://www.mdpi.com/2077-1312/11/4/805

Internet

https://www.mdpi.com/2077-1312/11/4/805

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