Three-Dimensional Path Tracking Control of the Underactuated AUV Based on Backstepping Sliding Mode.
Yushan SunChenming ZhangHao XuGuocheng ZhangYuanqing WangPublished in: ACIRS (2019)
Keyphrases
- tracking control
- sliding mode
- control law
- motion planning
- nonlinear systems
- stability analysis
- variable structure
- closed loop
- control strategy
- control system
- control algorithm
- adaptive control
- control scheme
- degrees of freedom
- path planning
- mobile robot
- autonomous robots
- optimal control
- lyapunov function
- dynamical systems
- fuzzy controller
- controller design
- adaptive neural
- tracking error
- fuzzy logic
- learning rate
- control parameters
- control method
- experimental data
- neural network
- pid controller
- computational intelligence
- fuzzy control
- fuzzy systems
- humanoid robot
- multi robot
- dynamic model