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