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...
Main Authors: | , , , |
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Format: | |
Language: | English |
Published: |
2008
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Online Access: | http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173924 |