Mozhde Mahmoodi
Electrical Engineering Department, Faculty of Technical and Engineering, Imam Khomeini International University, Qazvin, Iran
[ 1 ] - Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System
This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
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