A nonlinear path following controller for an underactuated unmanned surface vessel.
John M. DalyMichael J. TribouSteven Lake WaslanderPublished in: IROS (2012)
Keyphrases
- tracking control
- neural network controller
- variable structure
- highly nonlinear
- three dimensional
- control system
- path planning
- adaptive neural
- model predictive control
- real time
- obstacle avoidance
- control algorithm
- nonlinear systems
- fuzzy controller
- minimal path
- motion planning
- closed loop
- pid controller
- blood vessels
- adaptive controller
- lyapunov function
- d objects
- cross section
- linear quadratic
- minimal paths
- fuzzy pid
- continuous stirred tank reactor
- mechanical systems
- cross sections
- feedback control
- control scheme
- control method
- optimal control
- surface reconstruction
- neural network
- stability analysis
- receding horizon