scholarly journals Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control

2018 ◽  
Vol 95 (3-4) ◽  
pp. 1113-1132 ◽  
Author(s):  
Taha Elmokadem ◽  
Mohamed Zribi ◽  
Kamal Youcef-Toumi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Dynamic Positioning ◽  
Mode Control ◽  
Point Tracking

scholarly journals Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091627
Author(s):  
Jiajia Zhou ◽  
Xinyi Zhao ◽  
Zhiguang Feng ◽  
Di Wu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Time Delays ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Error Equation ◽  
Mode Control ◽  
Input Time

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

Robust Dynamic Inversion based on Sliding Mode Control for Autonomous Underwater Vehicles

2013 ◽  
Vol 46 (10) ◽  
pp. 79-84
Author(s):  
Inseok Yang ◽  
Sungil Byun ◽  
Byungseok Seo ◽  
Dongik Lee ◽  
Dong Seog Han
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Dynamic Inversion ◽  
Mode Control
Sign in / Sign up

Export Citation Format

Share Document