Trajectory tracking for autonomous underwater vehicle: An adaptive approach

• Published in: Ocean engineering Vol. 172; pp. 511 - 522
• Main Authors: Guerrero, J., Torres, J., Creuze, V., Chemori, A.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.01.2019; Elsevier
• Subjects: Adaptive control; Automatic; Engineering Sciences; Real-time experiments; Sliding mode control; Underwater vehicles; Adaptive control; Underwater vehicles; Sliding mode control; Real-time experiments

During missions at sea, underwater vehicles are exposed to changes in the parameters of the system and subject to persistent external disturbances. These issues make the design of a robust controller a quite challenging task. This paper focuses on the design of an adaptive high order sliding mode co...