Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles

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• 作者：Taha Elmokadem^a ; Mohamed Zribi^a ; ^{mohamed.zribi@ku.edu.kw} ; Kamal Youcef-Toumi^b
• 关键词：AUV ; Autonomous Underwater Vehicle ; Terminal sliding mode ; TSM ; Trajectory tracking ; Underactuated
• 刊名：Ocean Engineering
• 出版年：2017
• 出版时间：1 January 2017
• 年：2017
• 卷：129
• 期：Complete
• 页码：613-625
• 全文大小：4546 K
• 卷排序：129

文摘

This paper proposes sliding mode control schemes to solve the trajectory tracking problem of autonomous underwater vehicles (AUVs). These controllers are designed using the concept of terminal sliding mode control. The performances of the proposed controllers are simulated using an example AUV (the REMUS AUV). The simulation results show that the proposed control schemes work well. Also, the simulation studies indicate that the proposed control schemes are robust under bounded disturbances.