Barrier Function-Based Adaptive Composite Sliding Mode Control for a Class of MIMO Underactuated Systems Subject to Disturbances - Yang, Yana; Zhou, Xiaoshuang; Li, Junpeng; Hua, Changchun (IEEE transactions on industrial informatics, 2024)
Keywords: Actuators; Adaptive sliding mode control; Adaptive systems; Algorithms; barrier function (BF); Control algorithms; Control methods; Control theory; Couplings; dead zones; Disturbances; Error analysis; Informatics; input saturation; Liapunov functions; MIMO; multiple-inputs–multiple-outputs (MIMO) underactuated systems; Nonlinear phenomena; Proportional integral; Sliding mode control; Stability analysis; Surface stability; Tower cranes; Underactuated surface vessels; Upper bound; Upper bounds