Target tracking control of underactuated autonomous underwater vehicle based on adaptive nonsingular terminal sliding mode control
نویسندگان
چکیده
منابع مشابه
Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
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Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator Hao Li a b , Lihua Dou a b & Zhong Su c a School of Automation, Beijing Institute of Technology, Beijing 100081, China b Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China c Key Laboratory of Modern Measurement and ...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملtrajectory tracking of under-actuated nonlinear dynamic robots: adaptive fuzzy hierarchical terminal sliding-mode control
in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملAdaptive Tracking Control of an Autonomous Underwater Vehicle
This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420919941