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

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...

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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:
AUV
path following
nonlinear disturbance observer
adaptive line of sight
backstepping
Online Access:https://ieeexplore.ieee.org/document/10552882/

Internet

https://ieeexplore.ieee.org/document/10552882/

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