Backstepping–Sliding Mode With Anti-Windup for Autonomous Underwater Vehicle Heave and Yaw Control Under Thruster Limits

This paper investigates depth and heading control of an underactuated autonomous underwater vehicle (AUV) subject to hard thruster limits and allocation constraints. A classical sliding-mode controller with boundary layer (SMC-sat) is compared against a backstepping sliding-mode variant (BS-SMC-sat)...

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Autors principals:	Mubarak Badamasi Aremu, Abdul-Wahid Abdulaziz Saif
Format:	Artigo
Idioma:	Inglês
Publicat:	IEEE 2026-01-01
Col·lecció:	IEEE Access
Matèries:	AUV backstepping sliding mode control anti-windup actuator saturation thruster allocation
Accés en línia:	https://ieeexplore.ieee.org/document/11363455/
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