Sliding mode control of autonomous underwater vehicle

Sliding mode control of autonomous underwater vehicle

In this study, an autonomous underwater vehicle (AUV) model with six degrees of freedom is presented to be shown having been linearized under several working conditions. Sliding Mode Control Law which is derived from linear theory is applied autonomous underwater vehicle for yaw steering plane. Simu...

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Bibliographische Detailangaben
Hauptverfasser: Akcakaya, H., Yildiz, H.A., Saglam, G., Gurleyen, F.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Centralized control
Councils
Hydrodynamics
Linear feedback control systems
Navigation
Oceans
Sliding mode control
Uncertainty
Underwater vehicles
Vehicle dynamics
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Beschreibung
Zusammenfassung:In this study, an autonomous underwater vehicle (AUV) model with six degrees of freedom is presented to be shown having been linearized under several working conditions. Sliding Mode Control Law which is derived from linear theory is applied autonomous underwater vehicle for yaw steering plane. Simulation study is given to show that sliding mode controller designed assuming small states variation and decoupled plane cope with modeling non-linearity, uncertainty, disturbance effect.
DOI:10.1109/ELECO.2009.5355270