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

图2 基于预设性能制导律的鲁棒时滞控制器框图

Fig.2 Block diagram of the prescribed performance guidance law based robust time-delay controller