Title :
A nonlinear sliding mode autopilot for unmanned undersea vehicles
Author :
Hills, S.J. ; Yoerger, D.R.
Author_Institution :
Unmanned Undersea Vehicle Project, Naval Undersea Warfare Center, Newport, RI, USA
Abstract :
A nonlinear sliding mode autopilot has been designed to control the United States Navy, Office of Naval Research (ONR) unmanned undersea vehicles (UUVs). The paper discusses the selection process behind the choice of the sliding mode technique, and the design of the autopilot. This autopilot has been successfully demonstrated at sea and test data are presented. The autopilot has exhibited excellent dynamic control, performing manoeuvres at a range of different speeds
Keywords :
controllers; marine systems; military systems; mobile robots; motion control; nonlinear control systems; robot kinematics; testing; variable structure systems; United States Navy unmanned undersea vehicles; design; dynamic control; manoeuvres; nonlinear sliding mode autopilot; selection process; test data; Batteries; Communication system control; Equations; Fabrication; Payloads; Propulsion; Sliding mode control; Sonar measurements; Sonar navigation; Vehicle dynamics;
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
DOI :
10.1109/OCEANS.1994.364178
