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The motion modeling and thruster fault reconstruction for autonomous underwater vehicle (AUV) system are addressed in this paper. Considering the modeling uncertainty of the AUV motion model given by dynamics analysis method, we present an AUV motion modeling method based on RBF neural networks. Since there is asymptotic convergence problem in the process of using traditional sliding mode observer...
The trajectory tracking control problem of underwater robot is addressed in this paper. In general, an accurate thrust modeling is very difficult to establish for underwater robot in practice. Hence, the control voltage of thruster is designed directly as the input of system by the controller in this article. First, Taylor's polynomial is used to transform the form of trajectory tracking error system...
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