Sliding-Mode Tracking Control of Surface
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Ashrafiuon, H.; Muske, K.R.; McNinch, L.C.; Soltan, R.A.
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Article
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2008
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IEEE
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English
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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