Formation Control of Autonomous Underwater Vehicles Using an Improved Nonlinear Backstepping Method

The characteristics of autonomous underwater vehicles include nonlinearity, strong coupling, multiple inputs and multiple outputs, uncertainty, strong disturbance, underdrive, and multiple constraints. Autonomous underwater vehicle cluster systems are associated with large-scale complex dynamic syst...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Gang Shao, Lei Wan, Huixi Xu
Format:	Article
Language:	English
Published:	MDPI AG 2024-05-01
Subjects:	autonomous underwater vehicles (AUVs) formation control backstepping nonlinear disturbance observers cascade system
Online Access:	https://www.mdpi.com/2077-1312/12/6/878