# A Hybrid Tracking Control Strategy for an Unmanned Underwater Vehicle Aided with Bioinspired Neural Dynamics

arXiv: https://arxiv.org/abs/2209.01484 · HTML: https://mlsanity.com/paper/2209.01484/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 39 references that are in the map.
- First posted on arXiv 3 Sep 2022.

## Builds on (most cited first, 1 of 1)

- [Bio-inspired Neural Network-based Optimal Path Planning for UUVs under the Effect of Ocean Currents](https://mlsanity.com/paper/2206.10087/) (2022)

## Abstract (arXiv)

Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional methods. Then, a novel sliding mode control is proposed, which is capable of providing smooth and continuous torque commands free from chattering. In comparative studies, the proposed combined hybrid control strategy has ensured control signals smoothness, which is critical in real world applications, especially for an unmanned underwater vehicle that needs to operate in complex underwater environments.