Trajectory Tracking Control of UUV Based on Backstepping Sliding Mode With Fuzzy Switching Gain in Diving Plane.
Zheping YanZewen YangJinzhong ZhangJiajia ZhouAnzuo JiangXue DuPublished in: IEEE Access (2019)
Keyphrases
- sliding mode
- control law
- control strategy
- trajectory tracking control
- variable structure
- nonlinear systems
- stability analysis
- closed loop
- control system
- control algorithm
- control scheme
- sliding mode controller
- sliding mode control
- optimal control
- trajectory tracking
- control theory
- adaptive control
- robot manipulators
- fuzzy controller
- control method
- mathematical model
- fuzzy neural network
- parameter uncertainties
- autonomous robots
- dynamic model
- lyapunov function
- motion planning
- adaptive fuzzy
- fuzzy control
- fuzzy systems
- evolutionary computation
- fuzzy sets
- dynamic programming