Trajectory Tracking of a Novel Underactuated AUV via Nonsingular Integral Terminal Sliding Mode Control
This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers. A 5-DOF kinematic and dynamic model of the quadrotor underwater vehicle (QUV) is established based on the underwater vehicle and quadrotor unmanned aerial vehicle movement mechanism...
Main Authors: | Zhiwei Wu, Haosong Peng, Biao Hu, Xiaodong Feng |
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Format: | Article |
Language: | English |
Published: |
IEEE
2021-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9492070/ |
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