Adaptive Terminal-sliding-mode Combination Control for Heading and Rolling of Marine Robot Based on Energy Optimization

Near-surface motion is an important moving posture of marine robot. Because of the disturbance from wave, the robot cannot keep a certain posture and course by itself, especially under the action of high-frequency and periodic first-order wave force, the robot will inevitably make swing motions such...

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Veröffentlicht in:	Ji xie gong cheng xue bao 2011-08, Vol.47 (15), p.37-43
Hauptverfasser:	Jin, Hongzhang, Gao, Yannan, Zhou, Shengbin
Format:	Artikel
Sprache:	chi
Schlagworte:	Adaptive control systems Control surfaces Marine Mechanical engineering Optimization Posture Robots Rolls
Online-Zugang:	Volltext
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