Backstepping active disturbance rejection control for trajectory tracking of underactuated autonomous underwater vehicles with position error constraint
نویسندگان
چکیده
منابع مشابه
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
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3 Acknowledgement 4 Table of
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The paper considers control of an autonomous underwater vehicle (AUV) with a reduced number of actua-tors. A nonlinear model describing both the dynamics and the kinematics of an AUV is studied. A continuous periodic time-varying feedback law is presented. It is shown that it exponentially stabilizes the total AUV model using only four actuators. Furthermore, it is shown that if the hydrodynami...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420909633