Title :
Research on Sliding Mode Control for Near-Surface AUV Depth Regulation in Waves Circumstance
Author :
Shen, Jian-sen ; Zhou, Xu-chang ; Zhang, Hong-gang
Author_Institution :
Dept. of Weapon Eng., Naval Univ. of Eng., Wuhan, China
Abstract :
The paper addresses the problems of depth regulation control of a torpedo-like autonomous underwater vehicle (AUV) in wave circumstance. A mathematical model of AUV´s pith motion in vertical plane is established by simplifying and linearizing the nonlinear 6 degrees of freedom equations of motion at a specified operating point. Sliding mode control (SMC) is introduced for depth regulation and a second-order sliding mode controller is designed to reduce chattering and improve dynamic characteristics. The computer simulation results showed that the proposed controller was effective and satisfactory for resist wave disturbance.
Keywords :
control system synthesis; mathematical analysis; remotely operated vehicles; underwater vehicles; variable structure systems; chattering reduction; depth regulation control; mathematical model; near-surface AUV depth regulation; resist wave disturbance; sliding mode controller design; torpedo-like autonomous underwater vehicle; wave circumstance; Equations; Force; Mathematical model; Sea surface; Sliding mode control; Surface waves; Underwater vehicles; AUVs; depth regulation; sliding mode control; wave disturbance;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.433
