Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation
This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimens...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2018-05-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678216306252 |