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Path following of autonomous vehicle in 2D space using multivariable sliding mode control
Ji DX(冀大雄); Liu J(刘健); Zhao HY(赵宏宇); Wang YQ(王轶群)
Department海洋信息技术装备中心
Source PublicationJournal of Robotics
ISSN1687-9600
2014
Volume2014Pages:1-6
Indexed ByEI
EI Accession number20144000079954
Contribution Rank1
AbstractA solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control law based onmultiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametricmodeling uncertainty. An error integration element is added into the "tanh" function of the traditional sliding mode control. We illustrated our results in the context of the vehicle control applications that an underwater vehicle moves along with the desired paths in 2D space. Simulations show that the control objectives were accomplished.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15165
Collection海洋信息技术装备中心
Corresponding AuthorJi DX(冀大雄)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
Recommended Citation
GB/T 7714
Ji DX,Liu J,Zhao HY,et al. Path following of autonomous vehicle in 2D space using multivariable sliding mode control[J]. Journal of Robotics,2014,2014:1-6.
APA Ji DX,Liu J,Zhao HY,&Wang YQ.(2014).Path following of autonomous vehicle in 2D space using multivariable sliding mode control.Journal of Robotics,2014,1-6.
MLA Ji DX,et al."Path following of autonomous vehicle in 2D space using multivariable sliding mode control".Journal of Robotics 2014(2014):1-6.
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