A sliding mode based control law is presented for stabilizing an UUV (Underactuated Underwater Vehicle) moving in a horizontal plane. The novelty of the proposed control law is that the dynamics of the vehicle is exploited to dene three sliding surfaces, at whose intersection the system is asymptotically stable. The task of the available two actuators is then to steer the system to this intersection set.
Stabilization of an underwater vehicle
Stabilisierung eines Unterwasserfahrzeuges
2005
6 Seiten, 11 Bilder, 12 Quellen
Conference paper
English
UNDERWATER VEHICLE WITH STABILIZATION SYSTEM OVER UNDERWATER OBJECT
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