Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation

Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation

In the presence of modeling uncertainties and input saturation, this paper proposes a practical adaptive sliding mode control scheme for an underactuated unmanned surface vehicle (USV) using neural network, auxiliary dynamic system, sliding mode control and backstepping technique. First, the radial...

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Bibliographic Details
Main Authors: Bingbing Qiu, Guofeng Wang, Yunsheng Fan, Dongdong Mu, Xiaojie Sun
Format: Article
Language:English
Published: MDPI AG 2019-03-01
Series:Applied Sciences
Subjects:
underactuated USV
trajectory tracking
neural network
adaptive technology
sliding mode control
input saturation
Online Access:https://www.mdpi.com/2076-3417/9/6/1240

Internet

https://www.mdpi.com/2076-3417/9/6/1240

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