Backstepping Dynamical Sliding Mode Control Method for the Path Following of the Underactuated Surface Vessel
نویسندگان
چکیده
منابع مشابه
Path following and Stabilization of Underactuated Surface Vessels Based on Adaptive Hierarchical Sliding Mode
Path following of underactuated surface vessels is important practice in ship motion control field. Some of current studies have restrictions on forms of desired trajectory of which straight line or sinusoid curve was excluded. In this paper, adaptive robust controllers for path following of underactuated surface vessels are proposed based on hierarchical sliding mode method which suits various...
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ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2011
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2011.08.051