Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path

Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path

Considering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model uncertainties, actuator faults, and input saturat...

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Bibliographic Details
Main Authors: Guofang Chen, Yihui Liu, Ziyang Zhang, Yufei Xu
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Journal of Marine Science and Engineering
Subjects:
TAG hydrothermal mound
small autonomous underwater vehicle
fixed-time trajectory tracking control
adaptive extended state observer
fixed-time sliding mode surface
modeled trajectory
Online Access:https://www.mdpi.com/2077-1312/10/6/721

Internet

https://www.mdpi.com/2077-1312/10/6/721

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