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...

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Bibliographic Details
Main Authors: Zhiwei Wu, Haosong Peng, Biao Hu, Xiaodong Feng
Format: Article
Published: IEEE 2021-01-01
Series:IEEE Access
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