eslami, Mehran

[ 1 ] - Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective

In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...