This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters.
Leader–follower formation control of underactuated autonomous underwater vehicles
✍ Scribed by Rongxin Cui; Shuzhi Sam Ge; Bernard Voon Ee How; Yoo Sang Choo
- Publisher
- Elsevier Science
- Year
- 2010
- Tongue
- English
- Weight
- 940 KB
- Volume
- 37
- Category
- Article
- ISSN
- 0029-8018
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