Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control

Finite-Time Path-Following Control of Underactuated AUVs with Actuator Limits Using Disturbance Observer-Based Backstepping Control

This paper presents a three-dimensional (3D) robust adaptive finite-time path-following controller for underactuated Autonomous Underwater Vehicles (AUVs), addressing model uncertainties, external disturbances, and actuator magnitude and rate saturations. A path-following error system is built in a...

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Bibliographic Details
Main Authors: MohammadReza Ebrahimpour, Mihai Lungu
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Drones
Subjects:
path-following
backstepping control
sliding mode control
disturbance observer
finite-time control
fixed-time control
Online Access:https://www.mdpi.com/2504-446X/9/1/70
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