Robust Finite-Time Control of a Multi-AUV Formation Based on Prescribed Performance

This paper focuses on the finite-time formation-control problem of a multi-AUV formation under unknown perturbations with prescribed performance. First, the nonlinear AUV model is transformed into a second-order integral model using feedback linearization. Suitable prescribed performance functions a...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Juan Li, Zhenyang Tian, Honghan Zhang, Wenbo Li
Format:	Article
Language:	English
Published:	MDPI AG 2023-04-01
Subjects:	prescribed performance finite time robustness feedback linearization formation control
Online Access:	https://www.mdpi.com/2077-1312/11/5/897