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Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer
The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2019
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6891719/ https://www.ncbi.nlm.nih.gov/pubmed/31731789 http://dx.doi.org/10.3390/s19224987 |