基于非线性干扰观测器的无人船与自主水下航行器协同运动控制策略

于特, 刘佳鹏, 吴超, 周畅, 周胜增, 王磊

USV and AUV Cooperative Control Strategy Based on Nonlinear Disturbance Observer

YU Te, LIU Jiapeng, WU Chao, ZHOU Chang, ZHOU Shengzeng, WANG Lei

图7 AUV航行编队误差

Fig.7 Formation tracking error of AUV