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This paper addresses the problem of coordinated trajectory tracking control of multiple UUVs. In the proposed scheme, the leader-follower formation strategy which has a virtual global leader is adopted, and the formation task is achieved when the follower converges to the reference trajectory which generated by the position of the leader and the predefined formation. Then, a virtual guidance vehicle...
This paper addresses the problem of output feedback control for underactuated unmanned underwater vehicles (UUVs) moving on the horizontal plane when only the information of position and orientation are available. We show that it is possible to solve the trajectory tracking control by an interesting approach such that the combination of backstepping technique with adaptive dynamical sliding mode control...
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