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Shaoqun Wu

As seen in: MDPI
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Articles

Horizontal Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on Contraction Theory

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By Caipeng Ma, Jinjun Jia, Tiedong Zhang, Shaoqun Wu
| MDPI
Abstract : In this paper, contraction theory is applied to design a control law to address the horizontal trajectory tracking problem of an underactuated autonomous underwater vehicle. Suppose that the vehicle faces challenges such as model uncertainties, external environmental disturbances, and actuator saturation. Firstly, a coordinate transformation is introduced to solve the problem of underactuation.
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