Trajectory Planning and Sliding-Mode Velocity Control for an Under-Actuated Hovercraft Vehicle.
Lukas PröhlHarald AschemannPublished in: IECON (2021)
Keyphrases
- robot manipulators
- sliding mode
- trajectory planning
- control scheme
- control law
- motion planning
- kinematic model
- sliding mode control
- trajectory tracking
- control strategy
- control system
- tracking error
- closed loop
- variable structure
- control theory
- dynamic model
- stability analysis
- adaptive control
- pid controller
- path planning
- nonlinear systems
- real time
- fuzzy controller
- control algorithm
- dynamic environments
- fuzzy logic
- support vector
- fuzzy neural network
- vision system
- mobile robot