Fig. 1: The proposed temporal-sequencing-convergent (TSC) cascaded guidance, state estimation, and control (GSC) system for depth tracking of underactuated autonomous underwater vehicles. | Communications Engineering

Fig. 1: The proposed temporal-sequencing-convergent (TSC) cascaded guidance, state estimation, and control (GSC) system for depth tracking of underactuated autonomous underwater vehicles.

From: Cascaded guidance, state estimation, and control for depth tracking of underactuated autonomous underwater vehicles

Fig. 1

It thereby enables a decoupling control strategy characterized by a temporal convergence sequence: state estimation converges first, pitch-tracking control follows, and depth-tracking guidance finally converges.

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