A solution to the path following problem for under actuated autonomous vehicles in the presence of possibly large modeling\nparametric uncertainty is proposed. For a general class of vehicles moving in 2D space, we demonstrated a path following control\nlaw based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small\nneighborhood and robustness to parametric modeling uncertainty.An error integration element is added into the ââ?¬Å?tanhââ?¬Â function of\nthe traditional sliding mode control.We illustrated our results in the context of the vehicle control applications that an underwater\nvehicle moves along with the desired paths in 2D space. Simulations show that the control objectives were accomplished.
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