Adaptive Tracking Error-Constraint Control of Fully Actuated Unmanned Underwater Vehicle System
摘要
This chapter focuses on the adaptive trajectory tracking of unmanned underwater vehicles (UUVs) using a fully actuated system approach. UUVs face challenges such as hydrodynamic uncertainties, external disturbances, and actuator limitations. We propose an adaptive tracking error-constraint control strategy that incorporates normalized and barrier functions, combined with adaptive RBF neural networks, to handle these challenges. The proposed method ensures tracking errors remain within acceptable bounds, even under uncertainties.