Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed...

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Bibliographic Details
Main Authors: Hao Xu, Guo-cheng Zhang, Jian Cao, Shuo Pang, Yu-shan Sun
Format: Article
Language:English
Published: MDPI AG 2019-11-01
Series:Sensors
Subjects:
underactuated auv
3d path following
backstepping method
super-twisting observer
ocean currents disturbance
Online Access:https://www.mdpi.com/1424-8220/19/22/4987

Internet

https://www.mdpi.com/1424-8220/19/22/4987

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