A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

Abstract Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velo...

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Bibliographic Details
Main Authors: Zhe Xu, Tao Yan, Simon X. Yang, S. Andrew Gadsden
Format: Article
Language:English
Published: Wiley 2022-09-01
Series:IET Cyber-systems and Robotics
Subjects:
backstepping
bioinspired neural dynamics
sliding mode control
unmanned underwater vehicle
Online Access:https://doi.org/10.1049/csy2.12060

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