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Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, the nonlinear AUV model is transformed into a second-order integral model using feedback linearization. Suitable prescribed performance functions a...

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Principais autores: Juan Li, Zhenyang Tian, Honghan Zhang, Wenbo Li
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2023-04-01
coleção:Journal of Marine Science and Engineering
Assuntos:
prescribed performance
finite time
robustness
feedback linearization
formation control
Acesso em linha:https://www.mdpi.com/2077-1312/11/5/897
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