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

  • Baoju Wu
  • Shuo Li
  • Xiaohui Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5928)

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 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Baoju Wu
    • 1
    • 2
  • Shuo Li
    • 1
    • 2
  • Xiaohui Wang
    • 1
  1. 1.Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina
  2. 2.Graduate School of the Chinese Academy of SciencesBeijingChina

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