Gaze-Assisted Prescribed Performance Controller for AUV Trajectory Tracking in Time-Varying Currents

Trajectory tracking for underactuated autonomous underwater vehicles (AUVs) is challenging due to coupling dynamics, modeling inaccuracies, and unknown disturbances. To tackle this, we propose a decoupling gaze-assisted prescribed performance controller (GAPPC). We first use an error transformation...

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Prif Awduron:	Zhuoyu Zhang, Mingwei Lin, Dejun Li, Ri Lin
Fformat:	Artigo
Iaith:	Inglês
Cyhoeddwyd:	MDPI AG 2024-09-01
Cyfres:	Journal of Marine Science and Engineering
Pynciau:	autonomous underwater vehicle three-dimensional trajectory tracking line-of-sight
Mynediad Ar-lein:	https://www.mdpi.com/2077-1312/12/9/1643
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