3D path-following control for autonomous underwater vehicle based on adaptive backstepping sliding mode.
Zhenzhong ChuDaqi ZhuPublished in: ICIA (2015)
Keyphrases
- sliding mode
- control strategy
- control law
- adaptive control
- variable structure
- nonlinear systems
- sliding mode control
- stability analysis
- autonomous underwater vehicle
- control system
- control method
- adaptive neural
- control theory
- sliding mode controller
- control scheme
- adaptive fuzzy
- closed loop
- trajectory tracking
- control algorithm
- mathematical model
- sliding surface
- robot manipulators
- optimal control
- feedback control
- tracking error
- controller design
- fuzzy neural network
- dynamic model
- neural network
- intelligent control
- lyapunov function
- autonomous robots
- fuzzy controller
- robotic systems
- real time