Robust Finite-Time Attitude Tracking Control of a CMG-Based AUV With Unknown Disturbances and Input Saturation
This paper focuses on the attitude tracking control of the autonomous underwater vehicle (AUV) using control moment gyros (CMGs) with the lumped nonlinearities including model uncertainty, coupling dynamic property, external disturbance, and input saturation. To describe the attitude of the AUV with...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8703414/ |