Dynamic hovering for uncrewed underwater vehicles via an error-separation-based cooperative strategy.

ABSTRACT: Uncrewed underwater vehicles(UUVs) play an indispensable role in ocean resource efficiency utilization due to their security and cost-effectiveness. However, the significant uncertainties, time-varying disturbances, and unstructured subsea environments pose challenges for UUVs in achieving precise and efficient marine missions. To address these challenges, this study introduces a novel cooperative control framework for UUVs. The proposed framework minimizes the high control efforts of sliding mode control while preserving robustness, enabling efficiency and precision for long-duration dynamic hovering missions of UUVs. Specifically, a key innovation is the development of a deviation separation strategy, which, for the first time, decouples hovering deviations into task-specific and anti-di

SUBMITTER: Luan X 

PROVIDER: S-EPMC12627750 | biostudies-literature | 2025 Nov

REPOSITORIES: biostudies-literature