An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles

An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles

The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external disturbances such as ocean currents when it operates, it...

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Bibliographic Details
Main Authors: Quang Van Vu, Tuan Anh Dinh, Thien Van Nguyen, Hoang Viet Tran, Hai Xuan Le, Hung Van Pham, Thai Dinh Kim, Linh Nguyen
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Electronics
Subjects:
hierarchical sliding mode control
autonomous underwater vehicle
adaptive learning
neural network
under-actuated system
Lyapunov theory
Online Access:https://www.mdpi.com/2079-9292/10/18/2316

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