Trajectory Tracking Control of an Underactuated AUV Based on Backstepping Sliding Mode With State Prediction

Trajectory Tracking Control of an Underactuated AUV Based on Backstepping Sliding Mode With State Prediction

This paper studies the trajectory tracking problem of an underactuated autonomous underwater vehicle (AUV) under the uncertainty of model parameters and input delay. Different from previous algorithms, a novel control algorithm is proposed which is a combination of RBF neural network algorithm and s...

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Bibliographic Details
Main Authors: Jiajia Zhou, Xinyi Zhao, Tao Chen, Zheping Yan, Zewen Yang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Underactuated AUV
trajectory tracking
sliding mode method
state prediction
backstepping technique
Online Access:https://ieeexplore.ieee.org/document/8930028/

Internet

https://ieeexplore.ieee.org/document/8930028/

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