Optimal Specification of Sliding Mode Control Parameters for Unmanned Surface Vessel Systems.

This paper introduces a method based on nonlinear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an optimal performance objective, such as minimum tracking error or minimum energy. The method is demonstrated using simulations based on an experimental USV system.

Main Author: McNinch, Lucas C.
Other Authors: Ashrafiuon, Hashem., Muske, Kenneth R.
Format: Villanova Faculty Authorship
Language: English
Published: 2009
Online Access: http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173903