Adaptive fuzzy depth control with trajectory feedforward compensator for autonomous underwater vehicles
This article presents a computed-torque controller plus adaptive fuzzy trajectory feedforward compensator suitable for the trajectory tracking control of uncertain underwater vehicle. To address the issue of unavailable normalization factor, an adaptive fuzzy trajectory feedforward compensator is pr...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-03-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814019838172 |