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Trajectory tracking of unmanned underwater vehicles (UUV) in two-dimension is researched by analyzing and establishing a two-dimension kinematic model of UUV. A new approach of trajectory tracking is posed, which is called model predictive control. Model predictive control is used based on linear description of the error model and it has to satisfy the control constraints. The optimization problem...
In this paper, a new approach of tracking control is investigated for the 7000-m Jiaolong manned submarine vehicle (MSV). First, the formulation of control allocation problem and some background information about tracking control of the 7000-m Jiaolong MSV are presented. Then, a kinematic controller is derived. The filter design using bioinspired model is employed to handle the speed jump problem...
In this paper, an integrated backstepping and sliding mode tracking control algorithm is developed for three-dimensional tracking control of unmanned underwater vehicles (UUV). The proposed control strategy combines with a kinematic controller and dynamic controller together. The kinematic controller integrates a bio-inspired model with the basktepping method while the dynamic controller uses robust...
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