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International Conference on Cognitive Systems and Signal Processing

ICCSIP 2016: Cognitive Systems and Signal Processing pp 27–35Cite as

Adaptive Terminal Sliding Mode Control for Formations of Underactuated Vessels

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 710))

Abstract

In this brief, the curve line path following problem is considered for formations of underactuated vessels. By using adaptive terminal sliding mode control method and finite time stability theory, the underactuated ships can reach and maintain the desired trajectory in finite time under the influence of unknown disturbance. Simulation results are provided to validate this method.

This work is supported in part by the National Natural Science Foundation of China (Grant Nos: 61572540, 51179019, 51279106, 61374114), the Macau Science and Technology Development under Grant 008/2010/A1 and UM Multiyear Research Grants, the Fundamental Research Program for Key Laboratory of the Education Department of Liaoning Province (LZ2015006), the Fundamental Research Funds for the Central Universities under Grants 3132016313 and 3132016311.

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Author information

Authors and Affiliations

  1. Navigation College, Dalian Maritime University, Dalian, China

    Yuqi Wang & Tieshan Li

  2. Department of Computer and Information Science, University of Macau, Macau, China

    C. L. Philip Chen

Authors
  1. Yuqi Wang
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  2. Tieshan Li
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  3. C. L. Philip Chen
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Corresponding author

Correspondence to Tieshan Li .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Fuchun Sun

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, China

    Huaping Liu

  3. College of Mechatronics and Automation, National University of Defense Technology, Changsha, China

    Dewen Hu

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© 2017 Springer Nature Singapore Pte Ltd.

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Wang, Y., Li, T., Philip Chen, C.L. (2017). Adaptive Terminal Sliding Mode Control for Formations of Underactuated Vessels. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_3

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  • DOI: https://doi.org/10.1007/978-981-10-5230-9_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-5229-3

  • Online ISBN: 978-981-10-5230-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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