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Path Following of an Underactuated Autonomous Underwater Vehicle Using Backstepping and Disturbance Observer-Based Sliding Mode Control

In this paper, a new hierarchical robust nonlinear control scheme is designed for the horizontal plane path following control problem of an underactuated autonomous underwater vehicle in the presence of the model uncertainties and fast-time-varying external disturbances. First, the path following er...

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Main Authors: Zahra Fereidan Esfahani, AhmadReza Vali, Seyed Mehdi Hakimi, Vahid BehnamGol, Babak Abdi
Format: Artigo
Language:Inglês
Published: Amirkabir University of Technology 2021-12-01
Series:AUT Journal of Modeling and Simulation
Subjects:
underactuated auv
path following
backstepping
sliding mode
disturbance observer
Online Access:https://miscj.aut.ac.ir/article_4558_d07f4715d9e657090aaa0f0f24e6dc21.pdf
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