Abstract:This paper aims at the problem of fast stability control of amphibious robot after state switch. A novel method named as generalized multivariable adaptive super-twisting algorithm (GMASTA) is proposed for the finite time attitude control of amphibious robot. In the proposed method, the standard multivariate super-twisting algorithm is improved by introducing a linear term and a higher power term, in order to reduce convergence time and chattering. In addition, the adaptive gain is employed based on a disturba… Show more
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