• DocumentCode
    2830802
  • Title

    Nonlinear Trajectory Control of Autonomous Underwater Vehicles Using the Sliding Methodology

  • Author

    Yoerger, D. ; Slotine, Jean-Jacques

  • Author_Institution
    Woods Hole Oceanographic Institution, Woods Hole, Massachusetts, USA
  • fYear
    1984
  • fDate
    0-0 Sept. 1984
  • Firstpage
    588
  • Lastpage
    593
  • Abstract
    A new variation on sliding control is shown to be very effective for the control of underwater vehicles. The method deals with nonlinearities directly, is highly robust to imprecise models, and is intuitively appealing. The method is demonstrated using a nonlinear vehicle simulation.
  • Keywords
    Control systems; Frequency; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robust control; Sliding mode control; Uncertainty; Underwater vehicles; Vehicle dynamics;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    OCEANS 1984
  • Conference_Location
    Washington, DC, USA
  • Type

    conf

  • DOI
    10.1109/OCEANS.1984.1152240
  • Filename
    1152240
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2830802