Robust adaptive trajectory tracking control of underactuated autonomous underwater vehicles with prescribed performance

• Published in: International journal of robust and nonlinear control Vol. 29; no. 14; pp. 4629 - 4643
• Main Authors: Li, Jian, Du, Jialu, Sun, Yuqing, Lewis, Frank L.
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 25.09.2019
• Subjects: Adaptive control; additional control; autonomous underwater vehicle; Autonomous underwater vehicles; Control stability; Control systems; Control theory; Disturbances; Mapping; Parameter estimation; Perturbation; prescribed performance; robust adaptive control; Robust control; Stability analysis; Tracking control; Tracking errors; Trajectory control; virtual parameter

Summary In this paper, a novel robust adaptive trajectory tracking control scheme with prescribed performance is developed for underactuated autonomous underwater vehicles (AUVs) subject to unknown dynamic parameters and disturbances. A simple error mapping function is proposed in order to guarantee...