Please use this identifier to cite or link to this item: https://dspace.ctu.edu.vn/jspui/handle/123456789/119564
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dc.contributor.authorPham, Nguyen Nhut Thanh-
dc.contributor.authorHo, Pham Huy Anh-
dc.date.accessioned2025-07-31T02:07:16Z-
dc.date.available2025-07-31T02:07:16Z-
dc.date.issued2024-
dc.identifier.issn1813-9663-
dc.identifier.urihttps://dspace.ctu.edu.vn/jspui/handle/123456789/119564-
dc.description.abstractThis paper investigates a path-following control for autonomous underwater vehicles that are under-actuated and are subject to completely unknown dynamics and input constraints in the vertical plane. Initially, the-line-of sight guidance is adopted to generate the desired pitch angle and the updated law for the path variable to guide the vehicle toward the desired path. Subsequently, a transformation is applied to turn the input constraints into a constraint on new states. The state constraint problem, unknown dynamics, and disturbances are then addressed with the proposal of an innovative integral barrier Lyapunov function and adaptive law. Through the Lyapunov theory, all errors are shown to be uniformly ultimately bounded. Eventually, a simulation via MATLAB is implemented to illustrate the feasibility and efficiency of the designed controller.vi_VN
dc.language.isoenvi_VN
dc.relation.ispartofseriesJournal of Computer Science and Cybernetics;Vol.40, No.03 .- P.267-286-
dc.subjectAdaptive neural path-followingvi_VN
dc.subjectAutonomous underwater vehicles (AUVs)vi_VN
dc.subjectUnder-actuated systemvi_VN
dc.subjectIntegral barrier Lyapunov function (IBLF)vi_VN
dc.subjectInput constraintsvi_VN
dc.titleAdaptive neural path-following control of under-actuated AUV subject to completely unknown dynamic and input constraintsvi_VN
dc.typeArticlevi_VN
Appears in Collections:Tin học và Điều khiển học (Journal of Computer Science and Cybernetics)

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