Double-Loop Structure Integral Sliding Mode Control for UUV Trajectory Tracking
To solve the problem of trajectory tracking control for the underactuated unmanned underwater vehicle (UUV) in external current disturbance, a back-stepping sliding mode control method with double-loop structure is proposed in this paper. The outer-loop controller constructs the position error slidi...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8750792/ |