Title :
Robust trajectory control for an autonomous underwater vehicle
Author :
Yang, Y.C. ; Yang, Ki Seok ; Chen, C.Y. ; Mu, L.J. ; Chiu, Y.M. ; Yu, C.M. ; Yang, W.C.
Author_Institution :
Nat. Appl. Res. Labs., Taiwan Ocean Res. Inst., Kaohsiung, Taiwan
Abstract :
In this paper, a robust sliding mode control is used to control an autonomous underwater vehicle. The modeling of the autonomous underwater vehicle with structure uncertainties is conducted. Sliding mode control (SMC) has robustness property in the environmental disturbances and uncertain parameters. The asymptotic tracking performance can be verified by the Lyapunov stability. The proposed control theory is demonstrated by actual tracking simulations using the autonomous underwater vehicle system. The simulations results showed promising tracking performance for the proposed method.
Keywords :
Lyapunov methods; autonomous underwater vehicles; robust control; stability; trajectory control; variable structure systems; Lyapunov stability; SMC; asymptotic tracking performance; autonomous underwater vehicle control; robust sliding mode control; robust trajectory control; Dynamics; Equations; Mathematical model; Robustness; Uncertainty; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS - Bergen, 2013 MTS/IEEE
Conference_Location :
Bergen
Print_ISBN :
978-1-4799-0000-8
DOI :
10.1109/OCEANS-Bergen.2013.6607946
