Skip to main content
SpringerLink
Log in

Grey Sliding Mode Control for Autonomous Underwater Vehicle

  • Conference paper
  • First Online:
Green Communications and Networks

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 113))

  • 669 Accesses

Abstract

The autonomous underwater vehicle has been attracting increasing interests in various areas like ocean resource exploitation. It is well known that the controller design of an underwater vehicle is complex for various reasons. The grey predicting theory is introduced into sliding mode control and a grey sliding mode controller is designed. The grey estimation can forecast and reject disturbances and parameter variations. The simulation results show that the application of grey estimation can improve the accuracy of the system and the application of grey compensation is effective to overcome uncertain disturbances. This system has a fast response and a good disturbance rejection capability.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 429.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 549.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 549.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Deng JL (1982) Control problems of grey system. Syst Control Lett 1:288–294

    Article  MATH  Google Scholar 

  2. Li J, Lee P, Jun B (2004) Application of a robust adaptive controller to autonomous diving control of an AUV. In:The 30th annual conference of the IEEE industrial electronics society, Busan, pp 419–424

    Google Scholar 

  3. Wai R, Chang L (2006) Adaptive stabilizing and tracking control for a nonlinear inverted-pendulum system via sliding-mode technique. IEEE Trans Ind Electron 53(2):674–692

    Article  Google Scholar 

  4. Deng JL (1989) Introduction to grey system theory. J Grey Syst 1:1–24

    MATH  Google Scholar 

  5. Lu HC (2004) Grey prediction approach for designing grey sliding mode controller. In: IEEE international conference on systems, man and cybernetics, The Netherlands. pp 403–408

    Google Scholar 

  6. Zhang Z (2005) Research on the method of motion control for AUV. Harbin Engineering University, Harbin

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical and Material Engineering, China Three Gorges University, 443002, Yichang, Hubei, China

    Furong Liu & Dalin Zhu

Authors
  1. Furong Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dalin Zhu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Furong Liu .

Editor information

Editors and Affiliations

  1. , Department of Electronic Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Shanghai, 200240, China, People's Republic

    Yuhang Yang

  2. , Electrical & Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore, 639798, Singapore

    Maode Ma

Rights and permissions

Reprints and permissions

Copyright information

© 2012 Springer Science+Business Media B.V.

About this paper

Cite this paper

Liu, F., Zhu, D. (2012). Grey Sliding Mode Control for Autonomous Underwater Vehicle. In: Yang, Y., Ma, M. (eds) Green Communications and Networks. Lecture Notes in Electrical Engineering, vol 113. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-2169-2_79

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-2169-2_79

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-2168-5

  • Online ISBN: 978-94-007-2169-2

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation