Gaze-Assisted Prescribed Performance Controller for AUV Trajectory Tracking in Time-Varying Currents

• Published in: Journal of marine science and engineering Vol. 12; no. 9; p. 1643
• Main Authors: Zhang, Zhuoyu, Lin, Mingwei, Li, Dejun, Lin, Ri
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.09.2024
• Subjects: Algorithms; autonomous underwater vehicle; Autonomous underwater vehicles; Controllers; Decoupling; Error reduction; Kinematics; line-of-sight; Methods; Modelling; Ocean currents; Ocean models; Parameter estimation; Parameter identification; Remote submersibles; Robust control; Stability; Steady state models; three-dimensional trajectory tracking; Tracking; Underwater vehicles; Velocity

Trajectory tracking for underactuated autonomous underwater vehicles (AUVs) is challenging due to coupling dynamics, modeling inaccuracies, and unknown disturbances. To tackle this, we propose a decoupling gaze-assisted prescribed performance controller (GAPPC). We first use an error transformation...