Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles
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Cites background or methods or result from "Adaptive non-singular integral term..."
...In this section, a FNITSM is defined and its superiority over the NITSM [23] in terms of convergence rate is analyzed....
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...Remark 1: The convergent time of e(t) on the FNITSM manifold is shorter than that on the NITSM manifold [23]....
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...In [23], an adaptive nonsingular ITSMC (ANITSMC) method is presented for 3-D trajectory tracking control of AUVs with model uncertainties and unknown external disturbances....
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...The main contribution of the proposed AFNITSMC method is that it offers AUV dynamics a faster convergence rate than the ANITSMC method [23], due to the faster convergence rate of the FNITSM over the NITSM [23]....
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...To solve the abovementioned issue of the ANITSMC scheme [23], an adaptive fast nonsingular ITSMC (AFNITSMC) scheme is presented....
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172 citations
Cites background from "Adaptive non-singular integral term..."
...However, it is a very challenging task to design proper trajectory tracking controller for AUVs due to the notable difficulties such as strongly coupled, highly nonlinear, and uncertain properties of the AUV dynamics as well as the time-varying external disturbances, which are hard to measure or estimate in undersea environments [5]–[9]....
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