By Topic

Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Healey, A.J. ; Dept. of Mech. Eng., US Naval Postgraduate Sch., Monterey, CA, USA ; Lienard, D.

A 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 applications of this kind, difficulties arise because the system to be controlled is highly nonlinear and 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. It is shown 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 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

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:18 ,  Issue: 3 )