Trajectory tracking passivity-based control for marine vehicles subject to disturbances.
Alejandro DonaireJosé Guadalupe RomeroTristan PerezPublished in: J. Frankl. Inst. (2017)
Keyphrases
- trajectory tracking
- closed loop
- sliding mode
- control system
- bi directional
- control method
- iterative learning
- dynamic model
- physical constraints
- control law
- visual servoing
- wheeled mobile robots
- neural network controller
- iterative learning control
- control strategy
- sliding mode control
- control scheme
- real time
- variable structure
- desired trajectory
- adaptive control
- control algorithm
- neural network structure
- nonlinear systems
- control theory
- robot manipulators
- experimental data
- dynamical systems
- power system
- incremental learning
- stability analysis
- vision system
- mobile robot