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dc.contributor.authorCristi, Roberto
dc.contributor.authorPapoulias, Fotis
dc.contributor.authorHealey, Anthony J.
dc.date.accessioned2015-04-02T23:10:45Z
dc.date.available2015-04-02T23:10:45Z
dc.date.issued1990-07
dc.identifier.citationIEEE Journal of Oceanic Engineering, Vol. 15, No. 3, July 1990.en_US
dc.identifier.urihttp://hdl.handle.net/10945/44818
dc.description.abstractThe 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.en_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.titleAdaptive Sliding Mode Control of Autonomous Underwater Vehicles in the Dive Planeen_US
dc.typeArticleen_US


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