A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and...

Full description

Bibliographic Details

Published in:	Applied Sciences
Main Author:	Przemyslaw Herman
Format:	Article
Language:	English
Published:	MDPI AG 2022-09-01
Subjects:	underactuated marine vehicle trajectory tracking backstepping integral sliding mode control robustness velocity transformation
Online Access:	https://www.mdpi.com/2076-3417/12/17/8903