Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation.
Yongsheng ZhaoXiaojie SunGuofeng WangYunsheng FanPublished in: IEEE Access (2021)
Keyphrases
- tracking control
- control law
- sliding mode
- nonlinear systems
- adaptive control
- tracking error
- stability analysis
- motion planning
- variable structure
- closed loop
- adaptive neural
- sliding mode control
- control algorithm
- control scheme
- adaptive fuzzy
- control system
- control strategy
- path planning
- trajectory tracking
- desired trajectory
- optimal control
- nonlinear functions
- autonomous robots
- power system
- dynamical systems
- degrees of freedom
- lyapunov function
- feedback control
- real time
- control method
- fuzzy systems
- controller design
- neural network
- fuzzy model
- learning rate
- control parameters
- fuzzy neural network
- linear model
- mathematical model
- multi robot
- sufficient conditions
- particle swarm optimization
- mobile robot
- dynamic programming
- artificial neural networks
- fuzzy controller