Backstepping-based adaptive control of underactuated AUV subject to unknown dynamics and zero tracking errors

This paper introduces a zero-error tracking control solution for underactuated autonomous underwater vehicle (AUV) facing unknown dynamic and environmental disturbances. The proposed approach integrates the backstepping method with adaptive techniques and neural networks to effectively address the c...

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Bibliographic Details

Published in:	Ocean engineering Vol. 302; p. 117640
Main Authors:	Zhang, Xuxi, Jiang, Kun
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 15.06.2024
Subjects:	Autonomous underwater vehicles Backstepping Neural networks Zero-error tracking control Autonomous underwater vehicles Backstepping Zero-error tracking control Neural networks
ISSN:	0029-8018, 1873-5258
Online Access:	Get full text
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