An Improved ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Autonomous Underwater Helicopter With Nonlinear Tracking Differentiator and Anti-saturation Controller

Haoda Li, Zichen Liu, Jin Huang +2

This paper presents an Improved Extended-state-observer based Line-of-Sight (IELOS) guidance law for path following of underactuated Autonomous Underwater helicopter (AUH) utilizin…