Sliding mode setpoint control of an underactuated surface vessel: Simulation and experiment.
Lucas C. McNinchHashem AshrafiuonKenneth R. MuskePublished in: ACC (2010)
Keyphrases
- sliding mode
- sliding mode controller
- sliding mode control
- control strategy
- stability analysis
- formation control
- variable structure
- receding horizon
- robot manipulators
- control method
- control law
- control scheme
- sliding surface
- trajectory tracking
- mechanical systems
- external disturbances
- mathematical model
- adaptive control
- adaptive neural
- dynamic model
- control theory
- control system
- control algorithm
- adaptive fuzzy
- optimal control
- closed loop
- nonlinear systems
- neural network controller
- simulation study
- motion planning
- neural network