Robust trajectory tracking and control allocation of X-rudder AUV with actuator uncertainty

This paper proposes a robust trajectory tracking control method for an X-rudder autonomous underwater vehicle subject to imprecise model parameters, unknown disturbances, and actuator uncertainty. The control scheme consists of a kinematics controller, dynamics controller, and rudder allocator const...

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Bibliographic Details

Published in:	Control engineering practice Vol. 136; p. 105535
Main Authors:	Wang, Wenjin, Wen, Tao, He, Xiao, Xu, Guohua
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.07.2023
Subjects:	Autonomous underwater vehicle Control allocation Neural network Trajectory tracking X-rudder Trajectory tracking Neural network X-rudder Autonomous underwater vehicle Control allocation
ISSN:	0967-0661, 1873-6939
Online Access:	Get full text
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