Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification.
Kantapon TanakitkornPhilip A. WilsonStephen R. TurnockAlexander B. PhillipsPublished in: J. Field Robotics (2018)
Keyphrases
- sliding mode
- experimental verification
- autonomous underwater vehicle
- control strategy
- variable structure
- sliding mode control
- stability analysis
- robot manipulators
- sliding mode controller
- trajectory tracking
- control law
- sliding surface
- control system
- control scheme
- adaptive control
- control theory
- control method
- optimal control
- closed loop
- real time
- dynamic model
- particle swarm optimization
- inverted pendulum
- fuzzy control
- reinforcement learning