Robust singular perturbation control for 3D path following of underactuated AUVs

Robust singular perturbation control for 3D path following of underactuated AUVs

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first arti...

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Bibliographic Details
Main Authors: Ming Lei, Ye Li, Shuo Pang
Format: Article
Language:English
Published: Elsevier 2021-01-01
Series:International Journal of Naval Architecture and Ocean Engineering
Subjects:
Autonomous underwater vehicle
Path following
Singular perturbations
Control design
Stability analysis
Online Access:http://www.sciencedirect.com/science/article/pii/S2092678221000467

Internet

http://www.sciencedirect.com/science/article/pii/S2092678221000467

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