Chapter

Intelligent Robotics and Applications

Volume 5928 of the series Lecture Notes in Computer Science pp 157-164

Discrete-Time Adaptive Sliding Mode Control of Autonomous Underwater Vehicle in the Dive Plane

  • Baoju WuAffiliated withShenyang Institute of Automation, Chinese Academy of SciencesGraduate School of the Chinese Academy of Sciences
  • , Shuo LiAffiliated withShenyang Institute of Automation, Chinese Academy of SciencesGraduate School of the Chinese Academy of Sciences
  • , Xiaohui WangAffiliated withShenyang Institute of Automation, Chinese Academy of Sciences

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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.

Keywords

AUV discrete-time sliding mode control adaptive control