Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles
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Authors
Healey, Anthony J.
Lienard, David
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1993-07
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Abstract
six degree of freedom model for the maneuvering
of an underwater vehicle is used and a sliding mode autopilot
is designed for the combined steering, diving, and speed control functions. In flight control a
arise because the system to be controlled is highly nonlinear,
coupled, and there is a good deal of parameter uncertainty
and variation with operational conditions. The development of
variable structure control in the form of sliding modes has
been shown to provide robustness that is expected to be quite
remarkable for AUV autopilot design. This paper shows that
a multivariable sliding mode autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering, and diving response of a slow speed
AUV. The influence of speed, modeling nonlinearity, uncertainty,
and disturbances, can be effectively compensated, even for complex
maneuvering. Waypoint acquisition based on line of sight
guidance is used to achieve path tracking.
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Article
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Mechanical Engineering
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Citation
IEEE Journal of Oceanic Engineering, Vol. 18, No. 3, July 1993
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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.