Trajectory tracking for autonomous underwater vehicle: An adaptive approach

J Guerrero, J Torres, V Creuze, A Chemori - Ocean Engineering, 2019 - Elsevier
During missions at sea, underwater vehicles are exposed to changes in the parameters of
the system and subject to persistent external disturbances. These issues make the design of …

Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

AQ Al-Dujaili, A Falah, AJ Humaidi… - International …, 2020 - journals.sagepub.com
This article presents a tracking control design for two-link robot manipulators. To achieve
robust tracking control performance, a super-twisting sliding mode control (STSMC) is …

Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots: A modified approach

TP Nascimento, CET Dórea… - International Journal of …, 2018 - journals.sagepub.com
Trajectory tracking for autonomous vehicles is usually solved by designing control laws that
make the vehicles track predetermined feasible trajectories based on the trajectory error …

Dynamic modeling and adaptive fuzzy sliding mode control for multi-link underwater manipulators

Z Yuguang, Y Fan - Ocean Engineering, 2019 - Elsevier
This paper proposes a method of dynamic modeling and a modified sliding mode control
algorithm applied on multi-link underwater manipulators. Firstly, combining Lagrange …

Fast terminal sliding mode tracking control of nonlinear uncertain mass–spring system with experimental verifications

S Amirkhani, S Mobayen, N Iliaee… - International …, 2019 - journals.sagepub.com
In this article, a fast terminal sliding mode control technique is used for robust tracking
control of a nonlinear uncertain mass–spring system in the existence of external …

Trajectory tracking control of UUV based on backstepping sliding mode with fuzzy switching gain in diving plane

Z Yan, Z Yang, J Zhang, J Zhou, A Jiang, X Du - IEEE Access, 2019 - ieeexplore.ieee.org
Considering the actual situation of time-varying interference in the underwater environment,
a trajectory tracking control method for an underactuated Unmanned Underwater Vehicle …

Parameter identification of unmanned marine vehicle manoeuvring model based on extended Kalman filter and support vector machine

Z Dong, X Yang, M Zheng, L Song… - International Journal of …, 2019 - journals.sagepub.com
To predict the manoeuvrability of unmanned marine vehicle and improve its
manoeuvrability, the parameters of the manoeuvring model of unmanned marine vehicle …

An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

F Ejaz, MT Hamayun, S Hussain, S Ijaz… - International …, 2019 - journals.sagepub.com
In this article, an adaptive sliding mode control is used in the framework of fault tolerant
control to mitigate the effects of actuator faults without requiring the actuator health …

Dynamic positioning for underactuated surface vessel via L1 adaptive backstepping control

H Chen, Y Peng, D Zhang, S Xie… - Transactions of the …, 2021 - journals.sagepub.com
This paper is concerned with the problem that fast-transient response and excellent
robustness cannot be satisfied simultaneously in the process of dynamic positioning (DP) for …

A novel constraint tracking control with sliding mode control for industrial robots

Y Xu, R Liu, J Liu, J Zhang - International Journal of …, 2021 - journals.sagepub.com
As industrial robots are characterized by flexibility, load variation, and unknown interference,
it is necessary to develop a control strategy with strong robustness and adaptability, fast …