Robust Trajectory Tracking Control of Underactuated Surface Vehicles with Prescribed Performance
In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steady-state performance of the closed-loop system, the error transformation t...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2020-12-01
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| Series: | Polish Maritime Research |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/pomr-2020-0075 |