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

fYear

2010

fDate

25-27 June 2010

Firstpage

1760

Lastpage

1764

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Control Engineering (ICECE), 2010 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-6880-5

Type

conf

DOI

10.1109/iCECE.2010.433

Filename

5631191