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Second order sliding mode tracking control of underwater vehicles

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2 Author(s)
Bartolini, G. ; DIEE, Cagliari Univ., Italy ; Punta, E.

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

Published in:

American Control Conference, 2000. Proceedings of the 2000  (Volume:1 ,  Issue: 6 )

Date of Conference:

Sep 2000