Full state sliding mode trajectory tracking control for general planar vessel models

A novel trajectory tracking sliding mode control law for general planar underactuated autonomous vessel models is presented where all six position and velocity states are asymptotically stabilized. The approach is based on defining a transitional trajectory vector function which can be used to reduc...

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Authors: Hashem Ashrafiuon, Sergey Nersesov, Farshad Mahini, Garrett Clayton
Conference Location: Chicago,IL
Conference Dates: July 1-3, 2015
Proceedings Title: Proceedings of the 2015 American Control Conference, ACC 2015
Format: Conference Proceeding
Language: English
Published: 2015