Control of a class of underactuated mechanical systems using sliding modes

IEEE Transactions on Robotics

Volumn 25, Issue 2, 2009, Pages 459-467

  Sankaranarayanan, V ^a   Mahindrakar, Arun D ^b  

^a NATIONAL INSTITUTE OF TECHNOLOGY   (India)

^b INDIAN INSTITUTE OF TECHNOLOGY MADRAS   (India)

Author keywords

Mobile robot; Nonholonomic; Sliding mode; Underactuated underwater vehicle (UUV)

Indexed keywords

ACTUAL SYSTEMS; ASYMPTOTIC STABILIZATIONS; BENCH-MARK PROBLEMS; CLOSED-LOOP SYSTEMS; CONTROL ALGORITHMS; CONTROLLER GAINS; DAMPING FORCES; FINITE TIME; HIGHER ORDER SLIDING MODES; NONHOLONOMIC; PARAMETRIC UNCERTAINTIES; RELATIVE DEGREES; SIMPLIFYING ASSUMPTIONS; SIMULATION RESULTS; SLIDING FUNCTIONS; SLIDING MODE; SLIDING MODE CONTROL ALGORITHMS; SWITCHING SURFACE DESIGNS; UNDERACTUATED MECHANICAL SYSTEMS; UNDERACTUATED UNDERWATER VEHICLE (UUV);

MECHANICS; MECHATRONICS; MOBILE ROBOTS; ROBOTICS; SLIDING MODE CONTROL; SUBMERSIBLE MOTORS; SUBMERSIBLES; UNDERWATER BALLISTICS; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

CONTROLLERS;

EID: 67349133130     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.2012338     Document Type: Article

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