Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, the nonlinear AUV model is transformed into a second-order integral model using feedback linearization. Suitable prescribed performance functions a...

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Bibliographic Details
Main Authors: Juan Li, Zhenyang Tian, Honghan Zhang, Wenbo Li
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Journal of Marine Science and Engineering
Subjects:
prescribed performance
finite time
robustness
feedback linearization
formation control
Online Access:https://www.mdpi.com/2077-1312/11/5/897

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