Underactuated AUV Three-Dimensional Path Tracking Control Based on Interference Observer and Backstepping Sliding Mode.
Yushan SunChenming ZhangHao XuGuocheng ZhangYuanqing WangPublished in: CACRE (2019)
Keyphrases
- tracking control
- sliding mode
- control law
- nonlinear systems
- motion planning
- stability analysis
- closed loop
- variable structure
- control algorithm
- control system
- adaptive control
- control scheme
- control strategy
- dynamical systems
- degrees of freedom
- optimal control
- adaptive fuzzy
- adaptive neural
- tracking error
- sliding mode control
- fuzzy control
- path planning
- mobile robot
- controller design
- fuzzy systems
- humanoid robot
- fuzzy model
- neural network
- feedback control
- lyapunov function
- control parameters
- autonomous robots
- computational intelligence
- robot manipulators
- inverted pendulum
- dynamic model
- artificial neural networks