Accurate track control of unmanned underwater vehicle under complex disturbances

ObjectivesThis paper presents a non-singular terminal sliding mode track control method based on a finite-time disturbance observer to solve the problem of accurately tracking and controlling an the 3D trajectory of an unmanned underwater vehicle under complex external disturbances.MethodsA non-sing...

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Bibliographic Details

Published in:	Zhongguo Jianchuan Yanjiu
Main Authors:	Haohua CHEN, Hong ZHAO, Ning WANG, Chen GUO, Ting LU
Format:	Article
Language:	English
Published:	Editorial Office of Chinese Journal of Ship Research 2022-02-01
Subjects:	unmanned underwater vehicle 3d trajectory tracking finite-time disturbance observer step disturbance non-singular terminal sliding mode backstepping sliding mode
Online Access:	http://www.ship-research.com/cn/article/doi/10.19693/j.issn.1673-3185.02236