SIA OpenIR  > 海洋信息技术装备中心
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)
作者部门海洋信息技术装备中心
发表期刊Journal of Robotics
ISSN1687-9600
2014
卷号2014页码:1-6
收录类别EI
EI收录号20144000079954
产权排序1
摘要A 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.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15165
专题海洋信息技术装备中心
通讯作者Ji DX(冀大雄)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Path following of au(1313KB)期刊论文出版稿开放获取ODC PDDL浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Ji DX(冀大雄)]的文章
[Liu J(刘健)]的文章
[Zhao HY(赵宏宇)]的文章
百度学术
百度学术中相似的文章
[Ji DX(冀大雄)]的文章
[Liu J(刘健)]的文章
[Zhao HY(赵宏宇)]的文章
必应学术
必应学术中相似的文章
[Ji DX(冀大雄)]的文章
[Liu J(刘健)]的文章
[Zhao HY(赵宏宇)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Path following of autonomous vehicle in 2D space using multivariable sliding mode control.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。