Adaptive-Disturbance-Observer Based Backstepping Control for Underwater Vehicle-Manipulator Systems
To resolve problems involving undersea vehicle-manipulator systems(UVMSs) with coupling terms, model uncertainties, and disturbances, an adaptive-disturbance-observer-based backstepping control method is proposed. Ocean multi-source disturbances are described by a linear exosystem and an adaptive di...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Science Press (China)
2023-06-01
|
| Series: | 水下无人系统学报 |
| Subjects: | |
| Online Access: | https://sxwrxtxb.xml-journal.net/cn/article/doi/10.11993/j.issn.2096-3920.2022-0011 |