Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation

Observer-Based Adaptive Control for Trajectory Tracking of AUVs with Input Saturation

In this paper, an observer-based adaptive control method is investigated for the horizontal trajectory tracking of autonomous underwater vehicles (AUV) with input saturation and system disturbances. Firstly, the desired surge speed and trajectory angle are established, which could decouple the track...

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Bibliographic Details
Main Authors: Qiang Li, Qing Lv, Haijun Lai, Zhenyu Xie, Jin Wang
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Applied Sciences
Subjects:
AUV
trajectory tracking
NESO
adaptive control
input saturation
Online Access:https://www.mdpi.com/2076-3417/13/23/12549

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