Title :
Sliding Mode Control for Autonomous Underwater Vehicle under Open Control Platform environment
Author :
Kyu Ha, Tae ; Henfri Binugroho, Eko ; Bong Seo, Young ; Weon Choi, Jae
Author_Institution :
Dept. of Intell. Mech. Eng., Pusan Nat. Univ., Pusan
Abstract :
This paper discusses the feature of an autonomous underwater vehicle (AUV) using sliding mode control (SMC) under the open control platform (OCP). Considering with the torpedo model in AUV test-bed, SMC is chosen to control the diving and steering maneuver of the AUV. This experiment uses ACE/TAO real-time event channel (RTEC) as a middleware platform for enabling control and communication in the AUV test-bed development. In this paper, two computers are used in the experiment, and each of it is dedicated for specific purpose in the AUV system. The first computer is used for AUV dynamics. The second computer used as SMC controller module. Finally, we evaluate the performance of SMC in the proposed environment.
Keywords :
control engineering computing; middleware; remotely operated vehicles; underwater vehicles; variable structure systems; AUV; SMC controller module; autonomous underwater vehicle; middleware platform; open control platform; sliding mode control; torpedo; Communication system control; Control systems; Mechanical engineering; Middleware; Postal services; Sliding mode control; Testing; Underwater vehicles; Unmanned aerial vehicles; Vehicle dynamics; AUV; OCP; RTEC; SMC;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654867
