Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot
This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin's time optimal control principle, in which the solution is obtained by using neur...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5655 |