Integral variable structure controller for autonomous underwater vehicle

This paper mainly presents that the influence from high-frequency wave disturbances to the motion of the AUV when it operates in shallow water. To solve the issue above, a nonlinear observer is proposed to derive the disturbance information of wave by estimating the shallow water wave's velocities and AUV's relative velocities from position and attitude measurement. With the observer estimates, the position errors in X, Y, Z directions are obtained by the velocity errors in surge, sway and heave. Meanwhile, a sliding mode controller is designed to make AUV keep stability while moving in the three dimensional space. Simulation results demonstrated that the proposed method is effective to eliminate wave disturbance and performs well.

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Integral variable structure controller for autonomous underwater vehicle

Cited by 2 publications

References 0 publications

Simulation of optimal integral sliding mode controller for the depth control of AUV

Simulation of optimal integral sliding mode controller for the depth control of AUV

Sliding Mode Control under Wave Disturbances for an AUV Using Nonlinear Observer Method

Contact Info

Product

Resources

About