An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics

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...

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Bibliographic Details
Main Authors: Gun Rae Cho, Hyungjoo Kang, Min-Gyu Kim, Mun-Jik Lee, Ji-Hong Li, Hosung Kim, Hansol Lee, Gwonsoo Lee
Format: Article
Language:English
Published: MDPI AG 2023-06-01
Series:Journal of Marine Science and Engineering
Subjects:
autonomous underwater vehicles
robust trajectory tracking
coupled desired error dynamics
time delay estimation
Online Access:https://www.mdpi.com/2077-1312/11/7/1334

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