Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers...

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Bibliographic Details
Main Authors: Josué González-García, Alfonso Gómez-Espinosa, Luis Govinda García-Valdovinos, Tomás Salgado-Jiménez, Enrique Cuan-Urquizo, Jesús Arturo Escobedo Cabello
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Sensors
Subjects:
AUV
SMC
finite-time
trajectory tracking
Online Access:https://www.mdpi.com/1424-8220/22/2/488

Internet

https://www.mdpi.com/1424-8220/22/2/488

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