Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology
Spot hover and high speed capabilities of underwater vehicles are essential for ocean exploring, however, few read more vehicles have these two features.Moreover, the motion of underwater vehicles is prone to be affected by the unknown hydrodynamics.This paper presents a novel negative-buoyancy autonomous underwater vehicle equipped with tri-tilt-r