Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control
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10846_2018_830_ReferencePDF.pdf
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Author(s)
Elmokadem, Taha
Zribi, Mohamed
Youcef-Toumi, Kamal
Date Issued
April 2018
Journal
Journal of Intelligent & Robotic Systems
Publisher
Springer Netherlands
Citation
Elmokadem, Taha et al., "Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control." Journal of Intelligent & Robotic Systems 95, 3 (September 2019): 1113–32 ©2018 Authors
Version
Author's final manuscript
Abstract
Abstract: Autonomous Underwater Vehicles (AUVs) are used in many applications such as the exploration of oceans, scientific and military missions, etc. Developing control schemes for AUVs is considered to be a very challenging task due to the complexity of the AUV model, the unmodeled dynamics, the uncertainties and the environmental disturbances. This paper develops a robust control scheme for the dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles. In order to insure the robustness of the proposed controllers, the sliding mode control technique is adopted in the design process. Simulation results are given to validate the proposed controllers. Moreover, studies are presented to evaluate the robustness of the developed controllers with model uncertainties and under different types of disturbances including unknown currents.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1007/s10846-018-0830-8
