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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| Автори: | , , , , |
|---|---|
| Формат: | Artigo |
| Мова: | Inglês |
| Опубліковано: |
Amirkabir University of Technology
2021-12-01
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| Серія: | AUT Journal of Modeling and Simulation |
| Предмети: | |
| Онлайн доступ: | https://miscj.aut.ac.ir/article_4558_d07f4715d9e657090aaa0f0f24e6dc21.pdf |
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