Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Backstepping-based Integral Sliding Mode Control with Time Delay
  Estimation for Autonomous Underwater Vehicles   The aim of this paper is to propose a high performance control approach for
trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the
controller performance can be affected by the unknown perturbations including
model uncertainties and external time-varying disturbances in an undersea
environment. To address this problem, a Backstepping-based Integral Sliding
Mode Control with Time Delay Estimation (BS-ISMC-TDE) is designed. To improve
the performance of a conventional backstepping control algorithm, an Integral
Sliding Mode Control (ISMC) approach is adopted in the backstepping design to
attenuate the steady-state error. Moreover, an adaptive Time Delay Estimation
(TDE) strategy is proposed to provide an estimation of perturbations by
observing the inputs and the states of the AUV one step into the past without
an exact knowledge of the dynamics and the upper bound of uncertainties. From
the simulation results, it is shown that the proposed control approach using
both adaptive and conventional TDE parts outperforms a Backstepping-based
Integral Sliding Mode Control (BS-ISMC).

7
The categories of this paper are: hep-th
26
The categories of this paper are: bayes-an
16
The categories of this paper are: stat
15
The categories of this paper are: nucl-ex
23
The categories of this paper are: solv-int
11
The categories of this paper are: hep-lat
24
The categories of this paper are: dg-ga
37
The categories of this paper are: supr-con
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
4
The categories of this paper are: cond-mat
31
The categories of this paper are: ao-sci
34
The categories of this paper are: chem-ph
17
The categories of this paper are: q-fin
28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph