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Quaternion-Based Modeling and Predefined-Time Tracking Control of a Fully Actuated Autonomous Underwater Vehicle

Yiming Li Xiao Wang Jinglong Shi Jian Liu Changyin Sun

自动化学报（英文版）2025，Vol.12Issue(11)：2275-2285,11.

自动化学报（英文版）2025，Vol.12Issue(11)：2275-2285,11.DOI:10.1109/JAS.2025.125267

Quaternion-Based Modeling and Predefined-Time Tracking Control of a Fully Actuated Autonomous Underwater Vehicle

Yiming Li ¹Xiao Wang ²Jinglong Shi ¹Jian Liu ¹Changyin Sun³

作者信息

1. School of Automation and the Key Laboratory of Measurement and Control of Complex System of Engineering,Ministry of Education,Southeast University,Nanjing 210096,China
2. School of Artificial Intelligence and the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology,Anhui University,Hefei 230601,China
3. School of Automation,Southeast University,Nanjing 210096
折叠

摘要

关键词

Autonomous underwater vehicle(AUV)/nonlinear control/predefined-time control/tracking control/unit quaternion

Key words

Autonomous underwater vehicle(AUV)/nonlinear control/predefined-time control/tracking control/unit quaternion

引用本文复制引用

Yiming Li,Xiao Wang,Jinglong Shi,Jian Liu,Changyin Sun..Quaternion-Based Modeling and Predefined-Time Tracking Control of a Fully Actuated Autonomous Underwater Vehicle[J].自动化学报（英文版）,2025,12(11):2275-2285,11.

基金项目

This work was supported in part by the National Natural Science Foundation of China(62373107)and the"Zhishan"Scholars Programs of Southeast University(2242023R40011). （62373107）

自动化学报（英文版）

ISSN：2329-9266

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