Trajectory tracking sliding mode control of underactuated AUVs
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11071_2015_2551_ReferencePDF.pdf
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Author(s)
Elmokadem, Taha
Zribi, Mohamed
Youcef-Toumi, Kamal
Date Issued
December 2015
Journal
Nonlinear Dynamics
Publisher
Springer Netherlands
Citation
Elmokadem, Taha, Mohamed Zribi, and Kamal Youcef-Toumi. "Trajectory tracking sliding mode control of underactuated AUVs." Nonlinear Dynamics (2016) 84:1079–1091.
Version
Author's final manuscript
Abstract
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.
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/s11071-015-2551-x
