Title :
Research on sliding mode controller with an integral applied to the motion of underwater vehicle
Author :
Fu, Mingyu ; Bian, Xinqian ; Wang, Wei ; Gu, Jason
Author_Institution :
Best Sea Assembly Inst., Harbin Eng. Univ., China
fDate :
29 July-1 Aug. 2005
Abstract :
A sliding mode controller with an integral for multi-variables system is devised to control the heading and speed of AUV in this paper. The simulation experiment results show that this scheme gives more robust and can eliminate steady error under disturbances. The accuracy heading and speed control is realized.
Keywords :
mobile robots; motion control; multivariable control systems; robust control; underwater vehicles; variable structure systems; velocity control; accuracy heading; autonomous underwater vehicle; heading control; multivariable system; sliding mode controller; speed control; Assembly systems; Automotive engineering; Computational modeling; Control systems; Equations; Mathematical model; Motion control; Sliding mode control; Underwater vehicles; Velocity control;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626895
