Trajectory tracking control for multi-thruster AUV considering thruster delay effects

Zijian Zhu, Ye Li, Guocheng Zhang, Yuxin Li, Qinyang Li, Fengchi Xu, Jiaguang Wei, College of Shipbuilding Engineering, Harbin Engineering University, CSSC Systems Engineering Research Institute, Offshore Oil Engineering Co

Journal of Vibration and Control

Published online on December 09, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper studies the problem of trajectory tracking control for a multi-thruster Autonomous Underwater Vehicle (AUV) considering the effects of thruster delays. An improved adaptive backstepping sliding mode control strategy (IABSMC) is proposed to ...