By Topic

An autonomous underwater vehicle (AUV) flight control system using sliding mode control

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
$33 $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

4 Author(s)
F. Dougherty ; Martin Marietta Aero & Naval Syst., Baltimore, MD, USA ; T. Sherman ; G. Woolweaver ; G. Lovell

The authors discuss ongoing work in the design of an advanced AUV control system. They focus on the application of a nonlinear control technique known as sliding mode control (SMC) to an AUV testbed being developed at Martin Marietta. It is noted that AUVs present challenges in the area of dynamic closed loop control. AUV control systems must be able to robustly control movement of all angles of attack or sideslip, adapt to changing mission payloads and dynamics, and provide a tolerance to control element failures. SMC provides a theoretical framework for the design of controllers that can meet these requirements. The AUV control system has been designed using SMC and is being prepared for at sea testing onboard the Martin Marietta AUV testbed in early 1989

Published in:

OCEANS '88. A Partnership of Marine Interests. Proceedings

Date of Conference:

31 Oct-2 Nov 1988