Original paper

Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space

Volume: 233, Pages: 108903 - 108903
Published: Aug 1, 2021
Abstract
This paper addresses a dual closed-loop fast integral terminal sliding mode control method of a multi-underactuated AUV formation system with uncertain model parameters and environmental disturbances. Different from the traditional sliding mode control method, this technique can not only keep the formation stable, but also significantly overcomes the problem that the formation tracking errors of the traditional method may not converge to zero in...
Paper Details
Title
Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space
Published Date
Aug 1, 2021
Volume
233
Pages
108903 - 108903
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