Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV)

被引：4
|
作者：
Cildoz, Mariana Uzeda [1 ]
Farias Dos Santos, Carlos Henrique [1 ]
Reginatto, Romeu
机构：
[1] State Univ Western Parana, Robot Res Grp, Foz Do Iguacu, Brazil
来源：
CONTROLO'2014 - PROCEEDINGS OF THE 11TH PORTUGUESE CONFERENCE ON AUTOMATIC CONTROL | 2015年 / 321卷
关键词：
Sliding Mode Control; Robust Control; Autonomous Underwater Vehicles (AUV); Chattering Problem;
D O I：
10.1007/978-3-319-10380-8_56
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 carried out a comparative study between three different Sliding Mode Control strategies applied to an Autonomous Underwater Vehicle's (AUV) position control in 6 DOFs, under the influence of wind, waves and ocean currents. The comparative study aims to avoid the Chattering effects looking for an acceptable trade-off between tracking error performance and closed-loop system stability. To this end, stability proofs and computational simulations for the control strategies were performed with satisfactory results.
引用
收藏
页码：587 / 596
页数：10
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