Sliding-Mode Tracking Control of Surface Vessels.

A sliding-mode control law is presented and experimentally implemented for trajectory tracking of underactuated autonomous surface vessels. The control law is developed by introducing a first-order sliding surface in terms of surge tracking errors and a second-order surface in terms of lateral motio...

Full description

Bibliographic Details
Main Authors: Ashrafiuon, Hashem., Muske, Kenneth R., McNinch, Lucas C., Soltan, Reza A.
Format: Villanova Faculty Authorship
Language:English
Published: 2008
Online Access:http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173924