Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

N. Zendehdel; S. J. Sadati; A. Ranjbar Noei

Volume 7, Issue 3 , July 2019, , Pages 475-486

  This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative ...  Read More