Nonlinear Trajectory Tracking Controller for Underwater Vehicles with Shifted Center of Mass Model
Nonlinear Trajectory Tracking Controller for Underwater Vehicles with Shifted Center of Mass Model
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Publisher
Basel: MDPI AG
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Language
English
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Basel: MDPI AG
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Contents
This paper addresses the issue of trajectory tracking control for an autonomous underwater vehicle in the presence of parameter perturbations and disturbances in three-dimensional space. The control scheme is based on a combination of the backstepping method, the adaptive integral sliding mode control scheme, and velocity transformation resulting f...
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Full title
Nonlinear Trajectory Tracking Controller for Underwater Vehicles with Shifted Center of Mass Model
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TN_cdi_doaj_primary_oai_doaj_org_article_f0f9ee00cdfa40d1b4758ace313d99e8
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_f0f9ee00cdfa40d1b4758ace313d99e8
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ISSN
2076-3417
E-ISSN
2076-3417
DOI
10.3390/app14135376
