Improved indirect adaptive line-of-sight guidance law for path following of under-actuated AUV subject to big ocean currents

• Published in: Ocean engineering Vol. 281; p. 114729
• Main Authors: Du, Peizhou, Yang, Wencheng, Chen, Ying, Huang, S.H.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2023
• Subjects: AUV; Indirect adaptive disturbance observer; Line-of-sight; Ocean currents; Path following; Indirect adaptive disturbance observer; AUV; Line-of-sight; Path following; Ocean currents

This paper presents a novel indirect adaptive disturbance observer (IADO)-based line-of-sight (LOS) guidance law for path following of under-actuated AUV in the presence of time-varying big ocean currents. The influences of ocean currents on AUV are expressed in the kinematic model. An indirect adap...