• Corpus ID: 45397689

Robust Trajectory Tracking Control of Underactuated Underwater Vehicle Subject to Uncertainties

  title={Robust Trajectory Tracking Control of Underactuated Underwater Vehicle Subject to Uncertainties},
  author={Yuan-Shiu Chen and Jing Li and Kangling Wang and Shu Rong Ning},
A composite robust control scheme is proposed by combining a sliding mode controller with an adaptive fuzzy control algorithm to control a 3-DOF underactuated underwater vehicle with model parameter perturbations and environmental disturbances based on the backstepping control method and the Lyapunov stability theory. The adaptive fuzzy control algorithm is employed to compensate for model parameter perturbations and the sliding mode controller is adopted to eliminate the effects of… 

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  • P. Herman
  • Engineering
    International Journal of Dynamics and Control
  • 2021
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