Backstepping sliding mode control with functional tuning based on an instantaneous power approach applied to an underwater vehicle

DOI10.1080/00207721.2018.1424966zbMath1385.93019OpenAlexW2782567415MaRDI QIDQ4638222

Marco H. Terra, Edson R. de Pieri, Carlos Henrique Farias dos Santos, Mariana Uzeda Cildoz

Publication date: 3 May 2018

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2018.1424966

zbMATH Keywords

sliding mode controlroboticsbackstepping control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

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Cites Work

• Robust sliding-mode backstepping design for synchronization control of cross-strict feedback hyperchaotic systems with unmatched uncertainties
• Controlled Lagrangians and the stabilization of mechanical systems. I. The first matching theorem
• Dynamics and control of a class of underactuated mechanical systems