Adaptive Super-Twisting sliding mode trajectory tracking control of underactuated unmanned surface vehicles based on prescribed performance.
Quan ZhangJie ChenLong LiTao YueSicheng YiPublished in: ROBIO (2022)
Keyphrases
- sliding mode
- stability analysis
- trajectory tracking control
- sliding mode control
- control strategy
- variable structure
- control law
- adaptive control
- robot manipulators
- control scheme
- sliding mode controller
- adaptive fuzzy
- trajectory tracking
- dynamic model
- nonlinear systems
- control system
- motion planning
- control algorithm
- closed loop
- adaptive neural
- neural network
- real time
- path planning
- mathematical model
- feedback control
- control theory
- optimal control