Spatial Path-Following Control of Underactuated AUV With Multiple Uncertainties and Input Saturation

Spatial Path-Following Control of Underactuated AUV With Multiple Uncertainties and Input Saturation

This paper studies the problem of spatial path-following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties and input saturation taken into account. Initially, the reduced-order extended state observes (ESOs) are introduced to estimate and compensate all lumpe...

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Bibliographic Details
Main Authors: Chen Guo, Yanan Han, Haomiao Yu, Jinmeng Qin
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
AUV
path-following
multiple uncertainties
input saturation
time-varying sideslip angle
Online Access:https://ieeexplore.ieee.org/document/8764010/

Internet

https://ieeexplore.ieee.org/document/8764010/

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