Disturbance observer-based fixed-time sliding mode trajectory tracking control for marine surface vehicles with uncertain dynamics.
Taiqi WangChang WangShengyu YanYongtao LiuPublished in: Trans. Inst. Meas. Control (2024)
Keyphrases
- sliding mode
- trajectory tracking control
- external disturbances
- sliding mode control
- control law
- control scheme
- sliding mode controller
- variable structure
- parameter uncertainties
- stability analysis
- control strategy
- robot manipulators
- trajectory tracking
- closed loop
- dynamic model
- desired trajectory
- adaptive fuzzy
- nonlinear systems
- control system
- adaptive neural
- real time
- control theory
- adaptive control
- fuzzy control
- support vector regression
- control algorithm
- neural controller
- autonomous robots
- tracking error
- mathematical model
- linear matrix inequality
- motion planning
- optimal control
- dynamical systems
- sufficient conditions
- mobile robot