Title :
Sliding mode control of lateral dynamics of an AUV
Author :
Khan, Imran ; Bhatti, A.I. ; Khan, Qudrat ; Ahmad, Qadeer
Author_Institution :
Dept. of Electron. Eng., Mohammad Ali Jinnah Univ. (MAJU), Islamabad, Pakistan
Abstract :
This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.
Keywords :
autonomous underwater vehicles; mobile robots; observability; variable structure systems; AUV; autonomous underwater vehicle; lateral dynamics; observability analysis; parametric variations; real twisting algorithm; sliding mode control; super twisting algorithm; Trajectory; Vectors; Vehicles; Autonomous Underwater Vehicle (AUV); Higher Order Sliding Mode (HOSM); Sliding Mode Control (SMC);
Conference_Titel :
Applied Sciences and Technology (IBCAST), 2012 9th International Bhurban Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4577-1928-8
DOI :
10.1109/IBCAST.2012.6177521
