Model Free Control Based on Integral Sliding Modes for Underactuated Underwater Robots.
A combination of a model-free control law at the dynamic level and a guidance law at the kinematic level is proposed for the tracking of an underactuated underwater robot vehicle. The closed-loop system gives rise to chattering-free integral sliding modes for local exponential tracking of actuated c...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politecnica de Valencia
2015-07-01
|
| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/9365 |