Backstepping Dynamical Sliding Mode Control Method for the Path Following of the Underactuated Surface Vessel

Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles

“…This section presents a trajectory tracking controller based on the combination of backstepping technique and sliding mode control method (Cheng et al, 2007;Liao et al, 2011), and analyzes the stability based on Lyapunov stability theory.…”

Study on the Course and Speed Cooperative Control Method for Unmanned Surface Vehicle

“…The weighted minimum of them can be the objective function, as shown in the following formula: (7) where t(x) is the function of the arrival time, and s (x) is the function of the change frequency of rudder, and x is the controller parameters, and α, β is two parameters' weight. The parameter optimization take the minimum of the objective function as the target to improve the efficiency of navigation and reduce the mechanical strain.…”

Course Control of Underactuated Ship Based on Nonlinear Robust Neural Network Backstepping Method

“…And the controller design is heavily depending on accurate dynamic model; the robustness against disturbance has not been addressed. A method using backstepping adaptive dynamical sliding mode control is presented for path following control of USV in [16], the control system takes account of the modeling errors and disturbances, and simplified tracking error dynamics are obtained by assuming that the sway velocity is small which can be neglected in the controller design and only for straight line path tracking can be achieved. The LOS based guidance law is also used in the controller design which causes the complexity of computing high-order derivative of virtual control.…”