Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel

DOI

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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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  -