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June 21, 2024Applied SciencesOpen Access

Nonlinear Trajectory Tracking Controller for Underwater Vehicles with Shifted Center of Mass Model

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Authors

PHPrzemysław Herman

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Overview

Simulation study demonstrates robust trajectory tracking in autonomous underwater vehicles with shifted center of mass, highlighting reliable control despite dynamic couplings.

Key Points

  • The nonlinear trajectory tracking control scheme maintains vehicle stability and path accuracy, effectively compensating for parameter perturbations in three-dimensional space.
  • Simulation on a five degrees of freedom vehicle model demonstrates robust trajectory tracking, integrating the backstepping method with adaptive integral sliding mode control.
  • Enables resilient trajectory tracking despite shifted center of mass displacement, while accounting for consequences of neglected dynamic couplings in underwater environments.

Cite This Study

Przemysław Herman (2024) studied this question.

synapsesocial.com/papers/68e63d09b6db6435875cea04https://doi.org/10.3390/app14135376
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