An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics
In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) with underactuation characteristics. The proposed controller overcomes the underactuation problem by designing the desired error dynamics in a coupled form...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/7/1334 |