Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance
نویسندگان
چکیده
منابع مشابه
Robust global trajectory tracking for a class of underactuated vehicles
In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position ...
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ژورنال
عنوان ژورنال: Polish Maritime Research
سال: 2020
ISSN: 2083-7429
DOI: 10.2478/pomr-2020-0075