Three-Dimensional Path Following Control of Underactuated AUV Based on Nonlinear Disturbance Observer and Adaptive Line-of-Sight Guidance

In this study, a backstepping sliding mode control method (NDO-ABSC) based on nonlinear disturbance observer (NDO) and adaptive line-of-sight guidance (ALOS) is proposed to address the three-dimensional path following control problem of underactuated autonomous underwater vehicles (AUVs) in the pres...

Full description

Bibliographic Details
Main Authors: Long He, Ya Zhang, Gang Fan, Yang Liu, Xue Wang, Zehui Yuan
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/10552882/