典型文献
Improved Nonsingular Fast Terminal Sliding Mode Control of Unmanned Underwater Hovering Vehicle
文献摘要：
An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper.It can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time convergence.In addition,conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of disturbances.The proposed approach is applied to the hovering control of an unmanned underwater vehicle.The controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances.
文献关键词：
中图分类号：
作者姓名：
HE Chenlu;FENG Zhengping
作者机构：
School of Naval Architecture,Ocean and Civil Engineering;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China
文献出处：
引用格式：
[1]HE Chenlu;FENG Zhengping-.Improved Nonsingular Fast Terminal Sliding Mode Control of Unmanned Underwater Hovering Vehicle)[J].上海交通大学学报（英文版）,2022(03):393-401
A类：
Nonsingular,Hovering
B类：
Improved,Fast,Terminal,Sliding,Mode,Control,Unmanned,Underwater,Vehicle,An,improved,nonsingular,fast,terminal,sliding,manifold,scaled,state,error,proposed,this,paper,It,significantly,accelerate,convergence,which,initially,far,from,origin,achieve,fixed,In,addition,conventional,double,power,reaching,law,ensure,presence,disturbances,approach,applied,hovering,unmanned,underwater,vehicle,controller,exhibits,both,strong,robustness,model,uncertainty,external
AB值：
0.629072
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