In this paper, tracking control of unmanned surface vessels by using the robust mode sliding control in the presence of fixed and moving obstacles are investigated. The mathematical model of vessels is in three degree of freedom (3DOF) and only contains the kinematics and dynamics of relevant to surge, sway and yaw. These vessels are controlled in under actuated manner; although they have (3DOF), but only are equipped

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History

  • Receive Date: 19 April 2017
  • Revise Date: 22 May 2019
  • Accept Date: 19 September 2018
  • Publish Date: 21 January 2018

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