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Design of a sliding mode controller for trajectory tracking problem of marine vessels

โœ Scribed by Cheng, J.; Yi, J.; Zhao, D.

Book ID
118681868
Publisher
The Institution of Engineering and Technology
Year
2007
Tongue
English
Weight
261 KB
Volume
1
Category
Article
ISSN
1751-8644

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โœ Ashrafiuon, H.; Muske, K.R.; McNinch, L.C.; Soltan, R.A. ๐Ÿ“‚ Article ๐Ÿ“… 2008 ๐Ÿ› IEEE ๐ŸŒ English โš– 831 KB

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