MLP neural network-based recursive sliding mode dynamic surface control for trajectory tracking of fully actuated surface vessel subject to unknown dynamics and input saturation.
Zhipeng ShenYannan BiYu WangChen GuoPublished in: Neurocomputing (2020)
Keyphrases
- sliding mode
- trajectory tracking
- control law
- dynamic model
- control scheme
- closed loop
- variable structure
- control strategy
- sliding mode control
- physical constraints
- control system
- stability analysis
- neural network
- robot manipulators
- bi directional
- adaptive control
- control method
- tracking error
- control theory
- desired trajectory
- nonlinear systems
- iterative learning
- control algorithm
- dynamic environments
- iterative learning control
- visual servoing