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Sliding-Mode Formation Control for Underactuated Surface Vessels

โœ Scribed by Fahimi, F.


Book ID
115470299
Publisher
IEEE
Year
2007
Tongue
English
Weight
229 KB
Volume
23
Category
Article
ISSN
1552-3098

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Sliding-Mode Tracking Control of Surface
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