State-Dependent Trajectory Planning and Tracking Control of Unmanned Surface Vessels.

A new method combining trajectory planning, tracking and coordinated control for unmanned surface vessels is presented based on nonlinear sliding mode control. A limiting factor of sliding mode tracking control is that it can only guarantee position tracking as long as the vessel initial conditions...

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Bibliographic Details
Main Authors: Soltan, Reza A., Ashrafiuon, Hashem., Muske, Kenneth R.
Format: Villanova Faculty Authorship
Published: 2009
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