Switching PD-based sliding mode control for hovering of a tilting-thruster underwater robot

This paper presents a switching PD-based sliding mode control (PD-SMC) method for the 6-degree-of-freedom (DOF) hovering motion of the underwater robot with tilting thrusters. Four thrusters of robot can be tilted simultaneously in the horizontal and vertical directions, and the 6-DOF motion is achi...

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Detalles Bibliográficos
Autores principales: Jin, Sangrok, Bak, Jeongae, Kim, Jongwon, Seo, TaeWon, Kim, Hwa Soo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2018
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5856427/
https://www.ncbi.nlm.nih.gov/pubmed/29547650
http://dx.doi.org/10.1371/journal.pone.0194427

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5856427/
https://www.ncbi.nlm.nih.gov/pubmed/29547650
http://dx.doi.org/10.1371/journal.pone.0194427

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