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Author

D. Tiep

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Open access Sep 2026

Enhanced Disturbance Observer-Based Sliding Mode Control for Precise Trajectory Tracking of Liquid-Carrying Robots on Uncertain Terrains

This paper investigates a high-precision trajectory tracking control strategy for differential-drive tanker robots subject to the combined effects of liquid sloshing dynamics and mixed-terrain disturbances. A key challenge in this application arises from the contrasting characteristics of different payload regimes: whi...

B. Van Tu, D. Tiep · 0 citations
Sep 2026

Adaptive Fault‐Tolerant Prescribed Performance Control for Underactuated Unmanned Surface Vehicles

A novel adaptive fault‐tolerant prescribed performance control scheme for trajectory tracking of underactuated unmanned surface vehicles (USVs) operating under actuator faults and external disturbances that incorporates a smooth shifting function that enables the controller to handle initial constraint violations, ther...

D. Tiep, Duc-Anh Pham · 0 citations

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