Robust fuzzy 3D path following for autonomous underwater vehicle subject to uncertainties

Computers & OR, Volume 84, Issue C, 2017, Pages 165-177.

Cited by: 90|Bibtex|Views60|Links
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Abstract:

This paper addresses a three-dimensional (3D) path following control problem for underactuated autonomous underwater vehicle (AUV) subject to both internal and external uncertainties. A two-layered framework synthesizing the 3D guidance law and heuristic fuzzy control is proposed to achieve robust adaptive following along a predefined pat...More

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