Finite-Time Trajectory Tracking Control for Uncertain Underactuated Marine Surface Vessels
This paper concerns the finite-time trajectory tracking control problem for an underactuated marine surface vessel (MSV) suffering from the external disturbance and parameter uncertainties. First, the virtual velocity command is proposed based on a novel piecewise function. It will be illustrated th...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
IEEE
2019-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8758812/ |