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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Detalles Bibliográficos

Principais autores:	Zahra Fereidan Esfahani, AhmadReza Vali, Seyed Mehdi Hakimi, Vahid BehnamGol, Babak Abdi
Formato:	Artigo
Idioma:	Inglês
Publicado:	Amirkabir University of Technology 2021-12-01
Series:	AUT Journal of Modeling and Simulation
Assuntos:	underactuated auv path following backstepping sliding mode disturbance observer
Acceso en liña:	https://miscj.aut.ac.ir/article_4558_d07f4715d9e657090aaa0f0f24e6dc21.pdf
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