Motion control of underwater robots with consideration of input saturations

Hadi Sazgar, Ali Keymasi-Khalaji, Department of Mechanical Engineering, Iranian Research Organization for Science and Technology , Department of Mechanical Engineering, Faculty of Engineering, Kharazmi University

Journal of Vibration and Control

Published online on June 05, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
In controlling underwater robots, accurate tracking, convergence rate, and stability are very important. The simultaneous adjustment of these features in a control algorithm will be possible by setting the appropriate control gains. Also, due to the ...