Title :
Sliding mode control of an autonomous underwater vehicle
Author :
Wang, Li-rong ; Liu, Jian Chen ; Yu, Hua Nan ; Xu, Yu Ru
Author_Institution :
Ocean Eng. Center, Harbin Eng. Univ., China
Abstract :
Presents a sliding mode controller for an AUV. The AUV´s hydrodynamic model is first converted into a controllable regular system, then the controller is designed using a decentralized sliding mode control strategy. Simulation results show the effectiveness of the design philosophy.
Keywords :
control system synthesis; decentralised control; mobile robots; multivariable control systems; nonlinear control systems; position control; underwater vehicles; variable structure systems; AUV; autonomous underwater vehicle; controllable regular system; decentralized control strategy; hydrodynamic model; positioning operation; sliding mode control; Automatic control; Automotive engineering; Control system synthesis; Control systems; Design engineering; Force control; Hydrodynamics; Nonlinear control systems; Sliding mode control; Underwater vehicles;
Conference_Titel :
Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on
Print_ISBN :
0-7803-7508-4
DOI :
10.1109/ICMLC.2002.1176749
