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Tracking control of underwater vehicles including thruster dynamics by second order sliding modes

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3 Author(s)
Bartolini, G. ; Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy ; Punta, E. ; Usai, E.

The paper is devoted to the introduction of a multi-input second order sliding mode control algorithm in a underwater robotic context. This approach guarantees perfect tracking and stabilization in presence of disturbance and uncertainties typical of this kind of system. This property is guaranteed by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous

Published in:

OCEANS '98 Conference Proceedings  (Volume:3 )

Date of Conference:

28 Sep-1 Oct 1998

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