Formation Control of Underactuated AUVs Using a Fractional-Order Sliding Mode Observer

Formation Control of Underactuated AUVs Using a Fractional-Order Sliding Mode Observer

This paper proposes a control method that combines a fractional-order sliding mode observer and a cooperative control strategy to address the problem of path-following for underactuated autonomous underwater vehicles (AUVs) in complex marine environments. First, a fractional-order sliding mode obser...

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Bibliographic Details
Main Authors: Long He, Mengting Xie, Ya Zhang, Shizhong Li, Bo Li, Zehui Yuan, Chenrui Bai
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Fractal and Fractional
Subjects:
formation control
fractional order
underactuated AUV
sliding mode observer
Online Access:https://www.mdpi.com/2504-3110/9/7/465
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