Trajectory tracking sliding mode control of underactuated AUVs
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- 作者：Taha Elmokadem ; Mohamed Zribi ; Kamal Youcef-Toumi
- 关键词：Autonomous underwater vehicles ; AUV ; Underactuated ; Trajectory tracking ; Sliding mode control
- 刊名：Nonlinear Dynamics
- 出版年：2016
- 出版时间：April 2016
- 年：2016
- 卷：84
- 期：2
- 页码：1079-1091
- 全文大小：2,489 KB
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Mohamed Zribi (1)
Kamal Youcef-Toumi (2)
1. Electrical Engineering Department, Kuwait University, P.O. Box 5969, 13060, Safat, Kuwait
2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA - 刊物类别：Engineering
- 刊物主题：Vibration, Dynamical Systems and Control
Mechanics
Mechanical Engineering
Automotive and Aerospace Engineering and Traffic - 出版者：Springer Netherlands
- ISSN：1573-269X
文摘
This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodelled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances.