Area-keeping robust sliding mode control for underactuated surface vehicle

DOI10.11990/JHEU.201809032zbMATH Open1463.93029MaRDI QIDQ3385779FDOQ3385779

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

Publication date: 14 January 2021

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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)

Cited In (3)

• 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
• Trajectory tracking sliding mode control of underactuated AUVs

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