2007
DOI: 10.1109/tro.2007.898961
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Sliding-Mode Formation Control for Underactuated Surface Vessels

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Cited by 174 publications
(67 citation statements)
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“…In recent years, sliding-mode control of underactuated systems has focused on some specific systems, such as surface vessel [14,15], wheeled inverted pendulum [16], mobile robot [17], and crane system [18,19], as well as for a class of underactuated systems, e.g. [20,21,22,23,24].…”
Section: Introductionmentioning
confidence: 99%
“…In recent years, sliding-mode control of underactuated systems has focused on some specific systems, such as surface vessel [14,15], wheeled inverted pendulum [16], mobile robot [17], and crane system [18,19], as well as for a class of underactuated systems, e.g. [20,21,22,23,24].…”
Section: Introductionmentioning
confidence: 99%
“…The bulk of existing research has focused on global stabilization and tracking control [80,81,82,83,84,85,86,87], and with a special concern to its parametric uncertainties [88,89,90].…”
Section: The Surface Vesselmentioning
confidence: 99%
“…The methodology is based on keeping exactly a properly chosen dynamic constraint by means of high-frequency control switching, and is known as robust and very accurate. The first-order sliding mode control (1-SMC) has been successfully implemented in surface vessel and offshore crane systems (Ashrafiuon, 2008;Fahimi, 2007;Ngo & Hong, 2012;Yu et al, 2012). Unfortunately, 1-SMC general application may be restricted, i.e., for an output sliding function to be zeroed, the standard sliding mode may keep the sliding function equal to zero only if the outputs relative degree is one (Levant, 2007).…”
Section: Introductionmentioning
confidence: 99%