Nonlinear disturbance observer-based backstepping finite-time sliding mode tracking control of underwater vehicles with system uncertainties and external disturbances

DOI10.1007/s11071-016-3253-8zbMath1373.93234OpenAlexW2566446143MaRDI QIDQ1676844

Ning Wang, Si-Yuan Liu, Yan-Cheng Liu

Publication date: 10 November 2017

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-3253-8

zbMATH Keywords

sliding mode controlfinite-time convergencebackstepping techniquenonlinear disturbance observerunderwater vehicles

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

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