Adaptive Sliding Mode Control of Autonomous Underwater Vehicles in the Dive Plane
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Authors
Cristi, Roberto
Papoulias, Fotis
Healey, Anthony J.
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1990-07
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Abstract
The problem of controlling an Autonomous Underwater
Vehicle (AUV) in a diving maneuver is addressed. The requirement for
having a simple controller which performs satisfactorily in the presence
of dynamical uncertainties calls for a design using the sliding mode
approach, based on a dominant linear model and bounds on the nonlinear
perturbations of the dynamics. Both nonadaptive and adaptive
techniques are considered, leading to the design of robust controllers that
can adjust to the changing dynamics and operating conditions. Also, the
problem of using the observed state in the control design is addressed,
leading to a sliding mode control system based on input-output signals
in terms of dive-plane command and depth measurement. Numerical
simulations using a full set of nonlinear equations of motion show the
effectiveness of the proposed techniques.
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Article
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Citation
IEEE Journal of Oceanic Engineering, Vol. 15, No. 3, July 1990.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.