Gaze-Assisted Prescribed Performance Controller for AUV Trajectory Tracking in Time-Varying Currents
Trajectory tracking for underactuated autonomous underwater vehicles (AUVs) is challenging due to coupling dynamics, modeling inaccuracies, and unknown disturbances. To tackle this, we propose a decoupling gaze-assisted prescribed performance controller (GAPPC). We first use an error transformation...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-09-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/12/9/1643 |
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