The problem of controlling an autonomous underwater vehicle (AUV) in a diving maneuver is addressed. Having a simple controller which performs satisfactorily in the presence of dynamical uncertainties calls for a design using the sliding mode approach, based on a dominant linear model and bounds on the nonlinear perturbations of the dynamics. Nonadaptive and adaptive techniques are considered, leading to the design of robust controllers that can adjust to changing dynamics and operating conditions. The problem of using the observed state in the control design is addressed, leading to a sliding mode control system based on input-output signals in terms of drive-phase command and depth measurement. Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive sliding mode control of autonomous underwater vehicles in the dive plane


    Additional title:

    Adaptive Tauchgangregelung eines selbstgesteuerten U-Bootes


    Contributors:
    Cristi, R. (author) / Papoulias, F.A. (author) / Healey, A.J. (author)

    Published in:

    Publication date :

    1990


    Size :

    9 Seiten, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Sliding Mode Control of Autonomous Underwater Vehicles

    Ahmad Forouzan Tabar / Mohammad Azadi / Alireza Alesaadi | BASE | 2015

    Free access


    Adaptive fuzzy sliding mode formation controller for autonomous underwater vehicles with variable payload

    Panda, Madhusmita / Das, Bikramaditya / Subudhi, Bidyadhar et al. | Emerald Group Publishing | 2020


    Resilient sliding mode control of multiple autonomous underwater vehicles under stochastic DoS attack

    Ye, Zehua / Xu, Ying / Dong, Jia-Hao et al. | SAGE Publications | 2023