Discrete-Time Adaptive Sliding Mode Control of Autonomous Underwater Vehicle in the Dive Plane

Authors:
Baoju Wu;Shuo Li;Xiaohui Wang
Affiliations:
Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 110016 and Graduate School of the Chinese Academy of Sciences, Beijing, China 100049;Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 110016 and Graduate School of the Chinese Academy of Sciences, Beijing, China 100049;Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 110016
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

Citing 2
Cited 1

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Generalized predictive control—Part I. The basic algorithm

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Modeling and adaptive sliding mode control of the catastrophic course of a high-speed underwater vehicle

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Abstract

This paper presents a discrete-time adaptive sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and external disturbance. The controller makes the system stable in the presence of system uncertainties and external disturbances. The proposed algorithm has a time varying sliding surface which is obtained by parameter estimation method. The presented algorithms have been applied to the problem of depth control of an AUV. Resulting performances have been tested by simulation.