Trajectory Tracking Control of an Underactuated AUV Based on Backstepping Sliding Mode With State Prediction.
Jiajia ZhouXinyi ZhaoTao ChenZheping YanZewen YangPublished in: IEEE Access (2019)
Keyphrases
- sliding mode
- control strategy
- control law
- stability analysis
- variable structure
- sliding mode control
- control algorithm
- control scheme
- trajectory tracking control
- sliding mode controller
- motion planning
- closed loop
- nonlinear systems
- robot manipulators
- adaptive control
- control system
- trajectory tracking
- mathematical model
- control method
- optimal control
- initial conditions
- adaptive fuzzy
- state space
- parameter uncertainties
- neural network
- degrees of freedom
- dynamic environments