This paper studies the motion control of the autonomous underwater glider (AUG) under the uncertain dynamic mode of the AUG and random disturbances of the environment. The sliding variable structure controller (SVSC) is utilized to enhance the dynamic motion accuracy of AUG under the random noises and strongly coupled parameters in the observation. Moreover, we propose a method to reduce the vibration caused by the SVSC. Furthermore, we analyze the stability of the designed controller. The simulation results show the controller can make the motion of AUG fast track the expected inputs and reduce the buffeting simultaneously.
Motion Control of Autonomous Underwater Glider with Sliding Variable Structure Control
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 147 ; 1484-1494
2022-03-18
11 pages
Article/Chapter (Book)
Electronic Resource
English
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