Proceedings of the 2017 International Conference on Electronic Industry and Automation (EIA 2017)

Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel

Authors
Kui LIANG, Jiaoyan AI, Zengqiang LEI, Gang LIU
Corresponding Author
Kui LIANG
Available Online July 2017.
DOI
https://doi.org/10.2991/eia-17.2017.54How to use a DOI?
Keywords
ASV; sliding-mode; trajectory; tracking control
Abstract

In this paper, The kinematics and dynamics model of autonomous surface vessels (ASV) is established for the trajectory tracking control of ASV. A trajectory tracking control law is proposed by the sliding mode variable structure control method. Through theoretic analysis, the control law can guarantee the asymptotic stability of the trajectory tracking of ASV. The simulation results show that the proposed method is effective.

Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2017 International Conference on Electronic Industry and Automation (EIA 2017)
Series
Advances in Intelligent Systems Research
Publication Date
July 2017
ISBN
10.2991/eia-17.2017.54
ISSN
1951-6851
DOI
https://doi.org/10.2991/eia-17.2017.54How to use a DOI?
Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Kui LIANG
AU  - Jiaoyan AI
AU  - Zengqiang LEI
AU  - Gang LIU
PY  - 2017/07
DA  - 2017/07
TI  - Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel
BT  - Proceedings of the 2017 International Conference on Electronic Industry and Automation (EIA 2017)
PB  - Atlantis Press
SP  - 251
EP  - 254
SN  - 1951-6851
UR  - https://doi.org/10.2991/eia-17.2017.54
DO  - https://doi.org/10.2991/eia-17.2017.54
ID  - LIANG2017/07
ER  -