Trajectory tracking sliding mode control of underactuated AUVs
نویسندگان
چکیده
منابع مشابه
Planar trajectory planning and tracking control design for underactuated AUVs
This paper addresses the combined problem of trajectory planning and tracking control for underactuated autonomous underwater vehicles (AUVs) on the horizontal plane. Given a smooth, inertial, 2D reference trajectory, the planning algorithm uses vehicle dynamics to compute the reference orientation and body-fixed velocities. Using these, the error dynamics are obtained. These are stabilized usi...
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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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ژورنال
عنوان ژورنال: Nonlinear Dynamics
سال: 2015
ISSN: 0924-090X,1573-269X
DOI: 10.1007/s11071-015-2551-x