ADAPTIVE COOPERATIVE DIVING OF SAUCER-TYPE UNDERWATER GLIDERS SUBJECT TO MODEL UNCERTAINTIES AND INPUT CONSTRAINTS

Adaptive Cooperative Diving of Saucer-Type Underwater Gliders Subject to Model Uncertainties and Input Constraints

This paper is concerned with the cooperative diving problem of homogenous under-actuated saucer-type autonomous underwater gliders subject to model uncertainties, input constraints as Wireless/IP well as external disturbances.A modular back-stepping design method is used to design a robust adaptive cooperative diving controller for each glider.Espe

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