Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays
Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time d...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2020-05-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881420916276 |