Leader–follower close formation control for underactuated surface vessel via terminal hierarchical sliding mode
نویسندگان
چکیده
منابع مشابه
Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملFuzzy Sliding Mode for Spacecraft Formation Control in Eccentric Orbits
The problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. Due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. The slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...
متن کاملtrajectory tracking of under-actuated nonlinear dynamic robots: adaptive fuzzy hierarchical terminal sliding-mode control
in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملHierarchical Fuzzy Sliding-Mode Control
A hierarchical fuzzy sliding-mode control is proposed to achieve asymptotic stability and favorable decoupling performance. In this approach, the nonlinear system is decoupled into several subsystems and the state response of each subsystem can be designed to be governed by a corresponding sliding surface. Then the whole system is controlled by a hierarchical sliding-mode controller. The propos...
متن کاملfuzzy sliding mode for spacecraft formation control in eccentric orbits
the problem of relative motion control for spacecraft formation flying in eccentric orbits is considered in this paper. due to the presence of nonlinear dynamics and external disturbances, a robust fuzzy sliding mode controller is developed. the slopes of sliding surfaces of the conventional sliding mode controller are tuned according to error states using a fuzzy logic and reach the pre-define...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420921012