Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint
In this article, the three-dimensional trajectory tracking control of an autonomous underwater vehicle is addressed. The vehicle is assumed to be underactuated and the system parameters and the external disturbances are unknown. First, the five degrees of freedom kinematics and dynamics model of und...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420909633 |