Backstepping sliding mode stabilization controller for underactuated unmanned surface vehicle based on disturbance observer.
Zhenzhen TanWangjie ZhouJie ChenYang XianQuan ZhangLong LiTao YueYingzhong TianSicheng YiPublished in: ROBIO (2023)
Keyphrases
- sliding mode
- control law
- control strategy
- motion planning
- variable structure
- external disturbances
- closed loop
- nonlinear systems
- autonomous vehicles
- sliding mode controller
- path planning
- control system
- control algorithm
- sliding mode control
- stability analysis
- control scheme
- trajectory tracking
- adaptive control
- control theory
- optimal control
- formation control
- control method
- degrees of freedom
- real time
- fuzzy neural network
- fuzzy controller
- lyapunov function
- mathematical model
- robot manipulators
- tracking error
- fuzzy control
- adaptive fuzzy
- controller design
- dynamical systems
- fuzzy logic
- desired trajectory
- autonomous robots
- pid controller
- computational intelligence
- multi robot
- neural network controller
- initial conditions
- lyapunov stability