MIT Libraries homeMIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
  • DSpace@MIT Home
  • MIT Open Access Articles
  • MIT Open Access Articles
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Trajectory tracking sliding mode control of underactuated AUVs

Author(s)
Elmokadem, Taha; Zribi, Mohamed; Youcef-Toumi, Kamal
Thumbnail
Download11071_2015_2551_ReferencePDF.pdf (2.549Mb)
OPEN_ACCESS_POLICY

Open Access Policy

Creative Commons Attribution-Noncommercial-Share Alike

Terms of use
Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/
Metadata
Show full item record
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.
Date issued
2015-12
URI
http://hdl.handle.net/1721.1/103050
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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
ISSN
0924-090X
1573-269X

Collections
  • MIT Open Access Articles

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries homeMIT Libraries logo

Find us on

Twitter Facebook Instagram YouTube RSS

MIT Libraries navigation

SearchHours & locationsBorrow & requestResearch supportAbout us
PrivacyPermissionsAccessibility
MIT
Massachusetts Institute of Technology
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.