Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control

Three-Dimensional Trajectory Tracking of AUV Based on Nonsingular Terminal Sliding Mode and Active Disturbance Rejection Decoupling Control

This paper presents a nonsingular terminal sliding mode and active disturbance rejection decoupling control (NTSM-ADRDC) scheme for the three-dimensional (3D) trajectory tracking of autonomous underwater vehicles (AUV). Firstly, the AUV model is decoupled into five independent single input–single ou...

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Bibliographic Details
Main Authors: Wei Zhang, Wenhua Wu, Zixuan Li, Xue Du, Zheping Yan
Format: Article
Language:English
Published: MDPI AG 2023-04-01
Series:Journal of Marine Science and Engineering
Subjects:
AUV
3D trajectory tracking
LESO
nonsingular terminal sliding mode control
Online Access:https://www.mdpi.com/2077-1312/11/5/959

Internet

https://www.mdpi.com/2077-1312/11/5/959

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