Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances.
Yunsheng FanBowen LiuGuofeng WangDongdong MuPublished in: Sensors (2021)
Keyphrases
- external disturbances
- sliding mode
- sliding mode control
- adaptive fuzzy
- control law
- trajectory tracking control
- adaptive neural
- mobile robot
- autonomous vehicles
- obstacle avoidance
- variable structure
- adaptive control
- control scheme
- closed loop
- motion planning
- control strategy
- sliding mode controller
- path planning
- trajectory tracking
- neural network
- robot manipulators
- feedback control
- control algorithm
- control system
- stability analysis
- nonlinear systems
- radial basis function neural network
- sliding surface
- optimal control
- control theory
- fuzzy control
- feed forward
- support vector regression
- fuzzy logic controller
- formation control
- dynamic environments
- control method
- mechanical systems
- chaotic systems
- desired trajectory
- dynamic model
- fuzzy controller
- neural controller