Robust path-following control of underactuated auvs with multiple uncertainties in the vertical plane

HIGHLIGHTS

• who: Jianming Miao et al. from the School of Marine Engineering and Technology, Sun Yat-sen University, Zhuhai, China have published the research work: Robust Path-Following Control of Underactuated AUVs with Multiple Uncertainties in the Vertical Plane, in the Journal: (JOURNAL)
• what: Since external disturbances, the perturbations in the internal model parameters, and unmodeled dynamics are bounded in practice, Assumption 2 is reasonable. The authors show that the tracking error E1 tends to narrow bound around zero using NTD (Equation ), ESOs (Equation (6c,d)), and the control law (Equations and_(17)).
• how . . .
  

   

  

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