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dc.contributor.authorElmokadem, Taha
dc.contributor.authorZribi, Mohamed
dc.contributor.authorYoucef-Toumi, Kamal
dc.date.accessioned2021-03-11T01:35:34Z
dc.date.available2021-03-11T01:35:34Z
dc.date.issued2018-04
dc.date.submitted2017-03
dc.identifier.issn1573-0409
dc.identifier.urihttps://hdl.handle.net/1721.1/130117
dc.description.abstractAbstract: 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.en_US
dc.description.sponsorshipKuwait Foundation for the Advancement of Science (KFAS 2013-5505-01)en_US
dc.publisherSpringer Netherlandsen_US
dc.relation.isversionofhttps://dx.doi.org/10.1007/s10846-018-0830-8en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceSpringer Netherlandsen_US
dc.titleControl for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Controlen_US
dc.typeArticleen_US
dc.identifier.citationElmokadem, 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 Authorsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.relation.journalJournal of Intelligent & Robotic Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dc.date.updated2020-09-24T20:36:18Z
dc.language.rfc3066en
dc.rights.holderSpringer Science+Business Media B.V., part of Springer Nature
dspace.embargo.termsY
dspace.date.submission2020-09-24T20:36:18Z
mit.journal.volume95en_US
mit.journal.issue3en_US
mit.licenseOPEN_ACCESS_POLICY


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