Robust Course controller based trajectory linearization control for Unmanned surface Vehicle with input saturation.
Bingbing QiuGuofeng WangYunsheng FanDongdong MuXiaojie SunPublished in: Mechatron. Syst. Control. (2019)
Keyphrases
- autonomous vehicles
- control system
- robust stability
- control signals
- control method
- reference trajectory
- real time
- control theory
- optimal control
- control strategy
- closed loop
- control strategies
- controller design
- wheeled mobile robot
- control rules
- dead zone
- control architecture
- strong robustness
- three dimensional
- fuzzy logic controller
- feedback control
- control parameters
- control algorithm
- disturbance rejection
- kinematic model
- control scheme
- control loop
- motion control
- adaptive neural
- neural network controller
- inverted pendulum
- control law
- underwater vehicles
- traffic management
- nonlinear systems
- guaranteed cost
- obstacle avoidance
- pi controller
- tracking error
- robotic manipulator
- mobile robot
- path planning
- desired trajectory
- d objects
- impedance control
- robot manipulators
- variable structure
- sliding mode control
- pid controller
- driver assistance systems
- lyapunov function
- traffic signal