Trajectory Tracking Control of Unmanned Underwater Vehicle Based on Projected Perpendicular Guidance Method with Disturbance Observer
Yong Liu,
Hugan Zhang,
Xianku Zhang
Abstract:Unmanned underwater vehicles (UUVs) possess impressive maneuverability and versatility, but controlling them during trajectory tracking can be challenging due to their susceptibility to external disturbances and perturbations in their model parameters. Additionally, the UUV has four degrees of freedom underwater, but only three control inputs, making it a typical underactuated system. To address these issues, this paper introduces a novel optimize sliding mode control (OPSMC) algorithm grounded in projected pe… Show more
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