基于预设性能制导律的欠驱动AUV海底地形鲁棒时滞跟踪控制

李锦江, 向先波, 刘传, 杨少龙

Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator

LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong

表2 控制性能指标

Tab.2 Control performance indices

初始状态	t_xs/s	t_zs/s	MAE_x/m	MAE_z/m	MIA/(°)	MTV/(°)
(-10 m, 12 m, 0°)^T	15.1	22.1	0.1912	0.1912	0.0790	0.0031
(-10 m, 12 m, 0°)^T	16.1	22.0	0.1943	0.1945	0.0762	0.0030