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Time-Varying Control for ASV Tracking by ri ma is a document available to read on EtoBox.
This paper presents a Time-Varying Nonsingular Terminal Sliding Mode (TV-NTSM) control strategy for Autonomous Surface Vehicles (ASVs) to enhance trajectory tracking amidst uncertainties and disturbances. The proposed controller eliminates the reaching phase common in traditional sliding mode controls, ensuring finite-time convergence of tracking errors while maintaining robustness against large uncertainties. The effectiveness of the control algorithm is validated through Lyapunov stability theory and simu
- Author
- ri ma
- Language
- EN