Abstract
This paper presents a discrete-time adaptive sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and external disturbance. The controller makes the system stable in the presence of system uncertainties and external disturbances. The proposed algorithm has a time varying sliding surface which is obtained by parameter estimation method. The presented algorithms have been applied to the problem of depth control of an AUV. Resulting performances have been tested by simulation.
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© 2009 Springer-Verlag Berlin Heidelberg
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Wu, B., Li, S., Wang, X. (2009). Discrete-Time Adaptive Sliding Mode Control of Autonomous Underwater Vehicle in the Dive Plane. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_15
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DOI: https://doi.org/10.1007/978-3-642-10817-4_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
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