An Improved Backstepping Controller with an LESO and TDs for Robust Underwater 3D Trajectory Tracking of a Turtle-Inspired Amphibious Spherical Robot

An Improved Backstepping Controller with an LESO and TDs for Robust Underwater 3D Trajectory Tracking of a Turtle-Inspired Amphibious Spherical Robot

In this paper, a double closed-loop backstepping controller is designed for 3D trajectory tracking of a turtle-inspired amphibious spherical robot suffering from problems that include model uncertainties, environmental disturbances, and unmeasured velocity. The proposed controller scheme tackles thr...

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Bibliographic Details
Main Authors: Xihuan Hou, Zan Li, Shuxiang Guo, Liwei Shi, Huiming Xing, He Yin
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Machines
Subjects:
turtle-inspired amphibious spherical robot
3D trajectory tracking
backstepping control
linear extended state observer
tracking differentiators
Online Access:https://www.mdpi.com/2075-1702/10/6/450

Internet

https://www.mdpi.com/2075-1702/10/6/450

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