Robust predefined-time adaptive tracking control for underactuated autonomous underwater vehicles with multiple constraints

Guoyang Shu, Yushan Sun, Hao Xu, Haotian Zheng, Ziao Yang, National Key Laboratory of Autonomous Marine Vehicle Technology, College of Shipbuilding Engineering, Harbin Engineering University, Marine Design and Research Institute of China

Journal of Vibration and Control

Published online on October 25, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper addresses the trajectory tracking control problem of underactuated autonomous underwater vehicles (AUVs) subject to model uncertainties, external disturbances, and asymmetric input saturation. A robust predefined-time controller is proposed to ...