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• W2513896403 abstract "The trajectory tracking problem of an underactuated unmanned underwater vehicle (UUV) is addressed. A robust nonlinear controller is developed by using terminal sliding mode control (TSMC), which can exponentially drive an UUV onto a predefined trajectory at a constant forward speed. The kinematic controller is expanded to cope with vehicle dynamics by resorting to introduce two terminal sliding surfaces. Robustness to parameter perturbation is addressed by incorporating the reaching laws associated with the upper bound of the parameter perturbation. The proposed control law can guarantee that all error signals globally exponentially converge to the origin. Finally, a series of numerical simulation results are added to illustrate the robustness and effectiveness of the proposed control scheme." @default.
• W2513896403 created "2016-09-16" @default.
• W2513896403 creator A5051324423 @default.
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• W2513896403 date "2016-05-01" @default.
• W2513896403 modified "2023-09-27" @default.
• W2513896403 title "Trajectory tracking for underactuated UUV using terminal sliding mode control" @default.
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• W2513896403 doi "https://doi.org/10.1109/ccdc.2016.7532229" @default.
• W2513896403 hasPublicationYear "2016" @default.
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