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Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer
Author
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-02
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV).
It uses adaptive law to estimate and compensate the disturbance observer error.
Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method.
The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory.
Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.
American Psychological Association (APA)
Zhang, Pengchao. 2018. Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer. Journal of Robotics،Vol. 2018, no. 2018, pp.1-6.
https://search.emarefa.net/detail/BIM-1197789
Modern Language Association (MLA)
Zhang, Pengchao. Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer. Journal of Robotics No. 2018 (2018), pp.1-6.
https://search.emarefa.net/detail/BIM-1197789
American Medical Association (AMA)
Zhang, Pengchao. Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-6.
https://search.emarefa.net/detail/BIM-1197789
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197789