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dc.contributor.authorHealey, Anthony J.
dc.contributor.authorLienard, David
dc.date.accessioned2015-04-03T17:03:38Z
dc.date.available2015-04-03T17:03:38Z
dc.date.issued1993-07
dc.identifier.citationIEEE Journal of Oceanic Engineering, Vol. 18, No. 3, July 1993en_US
dc.identifier.urihttp://hdl.handle.net/10945/44825
dc.description.abstractsix 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.en_US
dc.rightsThis 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.en_US
dc.titleMultivariable sliding mode control for autonomous diving and steering of unmanned underwater vehiclesen_US
dc.typeArticleen_US
dc.contributor.departmentMechanical Engineeringen_US


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