Title :
Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles
Author_Institution :
Sch. of Electr. Eng., Victoria Univ., Melbourne, Vic.
Abstract :
Autonomous underwater vehicles (AUVs) have nonlinear and time-varying behaviour and unmodelled dynamics. This paper describes the design, development and evaluation of nonlinear sliding mode autopilot system for an AUV to control the speed, steering and depth of the nonlinear AUV. It has also been observed by some researchers that the sliding mode controller is unable to eliminate the steady-state error. A method of eliminating the steady-state error associated with the sliding mode controller has been proposed in this paper. In addition, performances of the sliding mode autopilot were evaluated by simulation on the nonlinear model of the AUV over a variety of operating conditions. The robustness of the control system was evaluated in the presence of disturbances and parameter uncertainties
Keywords :
error analysis; nonlinear systems; remotely operated vehicles; time-varying systems; underwater vehicles; variable structure systems; AUV; autonomous underwater vehicle; nonlinear system; parameter uncertainty; sliding mode autopilot system; sliding mode controller; steady-state error elimination; time-varying system; Control systems; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Performance evaluation; Robust control; Sliding mode control; Steady-state; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
TENCON 2006. 2006 IEEE Region 10 Conference
Conference_Location :
Hong Kong
Print_ISBN :
1-4244-0548-3
Electronic_ISBN :
1-4244-0549-1
DOI :
10.1109/TENCON.2006.344166
