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- W2559635853 abstract "This paper proposes a novel nonlinear controller for path following control of underactuated autonomous underwater vehicle (AUV) in the horizon plane. In order to overcome the drawback of dependence on the accurate dynamic model that are present in a number of path following control strategies described in the literature, the unknown environmental disturbances and unmodeled dynamics are viewed as lumped uncertainties, and reduced-order linear extended state observers (LESOs) are used to estimate and compensate these uncertainties. For handling the problem of computational complexity inherent in the conventional back-stepping method, nonlinear tracking differentiator (NTD) is employed to construct the derivative of virtual control command. Finally, the effectiveness of the proposed control law is demonstrated through simulations." @default.
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- W2559635853 date "2016-10-01" @default.
- W2559635853 modified "2023-10-14" @default.
- W2559635853 title "Nonlinear path following control of the underactuated AUV via reduced-order LESOs and NTD" @default.
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- W2559635853 doi "https://doi.org/10.1109/aus.2016.7748182" @default.
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