Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel
- 10.2991/eia-17.2017.54How to use a DOI?
- ASV; sliding-mode; trajectory; tracking control
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.
- © 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 - 10.2991/eia-17.2017.54 ID - LIANG2017/07 ER -