Three-Dimensional Trajectory Tracking Control of Underactuated AUV Based on Fractional-Order PID and Super-Twisting Extended State Observer

This paper addresses the three-dimensional trajectory tracking control problem for the underactuated Autonomous Underwater Vehicle (AUV) operating in complex ocean environments characterized by dynamic disturbances and model uncertainties. A super-twisting extended state observer (STESO) was designe...

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Bibliographic Details

Published in:	Fractal and Fractional
Main Authors:	Long He, Ya Zhang, Mengting Xie, Zehui Yuan, Chenrui Bai
Format:	Article
Language:	English
Published:	MDPI AG 2025-09-01
Subjects:	underactuated AUV fractional-order PID trajectory tracking state observer super-twisting algorithm
Online Access:	https://www.mdpi.com/2504-3110/9/9/580