Trajectory tracking control for autonomous underwater vehicle with disturbances and input saturation based on contraction theory

Caipeng Ma; Yu Tang; Ming Lei; Dapeng Jiang; Wanzhen Luo

doi:10.1016/j.oceaneng.2022.112731

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Trajectory tracking control for autonomous underwater vehicle with disturbances and input saturation based on contraction theory

Caipeng Ma Yu Tang Ming Lei Dapeng Jiang Wanzhen Luo

Year: 2022 Journal: Ocean Engineering Vol: 266 Pages: 112731-112731 Publisher: Elsevier BV

DOI: 10.1016/j.oceaneng.2022.112731

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Keywords:

Control theory (sociology) Contraction (grammar) Trajectory Tracking error Nonlinear system Singular perturbation Underwater Actuator Controller (irrigation) Computer science Engineering Control engineering Mathematics Physics Control (management) Artificial intelligence

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Control and Stability of Dynamical Systems

Physical Sciences → Engineering → Control and Systems Engineering

Adaptive Control of Nonlinear Systems

Physical Sciences → Engineering → Control and Systems Engineering

Stability and Control of Uncertain Systems

Physical Sciences → Engineering → Control and Systems Engineering

Trajectory tracking control for autonomous underwater vehicle with disturbances and input saturation based on contraction theory

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