Dynamic Surface and Active Disturbance Rejection Control for Path Following of an Underactuated UUV

Table 1

UUV relevant parameters.

𝑚=40	𝑁̇𝑣=2.2	𝑁𝑣=36
𝑋̇𝑢=−1.42	𝑋𝑢𝑟=0.1	𝑋|𝑢𝑟|𝑢𝑟=8.2
𝑌̇𝑣=−38.4	𝑌𝑣𝑟=10	𝑌|𝑣𝑟|𝑣𝑟=200
𝑌̇𝑟=−2.5	𝑌𝑟=5	𝐼𝑧=8.0
𝑁̇𝑟=−8.9	𝑁𝑟=5	𝑁|𝑟|𝑟=15