Second order sliding mode tracking control of underwater vehicles

被引：0
|
作者：
Bartolini, G [1 ]
Punta, E [1 ]
机构：
[1] Univ Cagliari, DIEE, Cagliari, Italy
来源：
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is devoted to the introduction of a multiinput second order sliding mode control algorithm in an underwater robotic context. This approach guarantees perfect tracking and stabilization in presence of disturbance and uncertainties typical of this kind of systems. This property can be guaranteed by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous.
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页码：65 / 69
页数：5
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