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

fYear

2012

Firstpage

27

Lastpage

31

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);

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Sciences and Technology (IBCAST), 2012 9th International Bhurban Conference on

Conference_Location

Islamabad

Print_ISBN

978-1-4577-1928-8

Type

conf

DOI

10.1109/IBCAST.2012.6177521

Filename

6177521