Oct 2026· Journal of the Brazilian Society of Mechanical Sciences and Engineering· Vol 48· 0 citations· 62 references
TL;DR
An intelligent robust control framework that integrates predefined-time prescribed-performance control, actor–critic reinforcement learning, and an integral sliding-mode disturbance observer for USV trajectory and velocity tracking provides a promising solution for time-sensitive autonomous marine missions.
A robust control framework integrating the integral sliding mode controller (ISMC) with a momentum-based estimator (MBE) to ensure accurate trajectory tracking under uncertainty and maintains stability under up to 50% mass uncertainty is proposed.
Abdelkrim Kherkhar, B. Babes, Muath Odeh et al.· Scientific Reports· 0 citations
Numerical simulations demonstrate superior tracking accuracy and disturbance rejection capability compared to conventional adaptive neural DSC without disturbance observers, validating the effectiveness and robustness of the proposed scheme.
Xian Pan, Dong-Xue Wang, You-Wu Liu et al.· PLoS ONE· 0 citations
Comprehensive comparative simulations demonstrate that the proposed composite learning-based finite-time nonsingular terminal sliding mode control (CL-FNTSMC) achieves superior tracking accuracy, faster convergence, and markedly improved disturbance rejection compared with conventional NTSMC, adaptive fast NTSMC, and P...
In this paper, a novel robust flight control strategy, named Backstepping Nonsingular Terminal Sliding Mode Control (BNTSMC), is proposed for a six-degree-of-freedom (6DOF) quadrotor Unmanned Aerial Vehicle (UAV) subjected to unmodeled dynamics, parametric uncertainties, and time-varying external disturbances. Quadroto...
Oguz Keklikci, Ramazan Coban· IEEE Access· 0 citations
This study develops a formation-tracking control scheme for a group of unmanned surface vehicles (USVs) operating in the presence of time-varying environmental disturbances and actuator saturation. The control task requires the follower vessels to track a virtual navigation vessel, preserve the prescribed formation geo...
This paper proposes a time-varying RISE-based reinforcement learning controller for trajectory tracking of a four-wheeled Mecanum mobile robot subject to center-of-mass offset, wheel slippage, and external disturbances. A sliding-variable formulation is first employed to transform the uncertain robot dynamics into a co...
Minh Dong Nguyen, Hai Binh Nguyen· IEEE Access· 0 citations
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