Area-keeping robust sliding mode control for underactuated surface vehicle

DOI10.11990/JHEU.201809032MaRDI QIDQ3385779zbMATH OpenFDO

Authors Mingyu Fu, Shasha Wang, Yuanhui Wang, Hongyan Wei

Publication date 14 January 2021

zbMATH Keywords

sliding mode controlbackstepping methodvirtual inputarea-keepingexternal environmental disturbancesymmetry barrier Lyapunov functionunderactuated surface vehicle

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Variable structure systems (93B12) Asymptotic stability in control theory (93D20) Lyapunov and storage functions (93D30)

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Cited in

(3)

• Trajectory tracking sliding mode control of underactuated AUVs
• A strategy of robust control for the dynamics of an unmanned surface vehicle under marine waves and currents
• Stabilization of an underactuated surface vessel based on adaptive sliding mode and backstepping control

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