Model decoupling and multi-controller joint control of horizontal movement for AUV

DOI10.13245/J.HUST.160408MaRDI QIDQ3180538zbMATH OpenFDO

Authors Yanhui Wei, Weixiang Zhou, Xianqiang Jia, Zepeng Wang

Publication date 6 January 2017

Full work available at URL https://doi.org/10.13245/J.HUST.160408

zbMATH Keywords

adaptive controlautonomous underwater vehicleback-stepping controljoint controlmodel decouplingsliding mode controltrajectory tracking

Mathematics Subject Classification ID

Variable structure systems (93B12) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Asymptotic stability in control theory (93D20)

Recommendations

• Trajectory tracking sliding mode control of underactuated AUVs
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• Design of a path following controller for an underactuated AUV
• Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance
• Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane

Cited in

(1)

• Distributed implementation of nonlinear model predictive control for AUV trajectory tracking

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