DocumentCode
1853154
Title
Research on sliding mode controller with an integral applied to the motion of underwater vehicle
Author
Fu, Mingyu ; Bian, Xinqian ; Wang, Wei ; Gu, Jason
Author_Institution
Best Sea Assembly Inst., Harbin Eng. Univ., China
Volume
4
fYear
2005
fDate
29 July-1 Aug. 2005
Firstpage
2144
Abstract
A sliding mode controller with an integral for multi-variables system is devised to control the heading and speed of AUV in this paper. The simulation experiment results show that this scheme gives more robust and can eliminate steady error under disturbances. The accuracy heading and speed control is realized.
Keywords
mobile robots; motion control; multivariable control systems; robust control; underwater vehicles; variable structure systems; velocity control; accuracy heading; autonomous underwater vehicle; heading control; multivariable system; sliding mode controller; speed control; Assembly systems; Automotive engineering; Computational modeling; Control systems; Equations; Mathematical model; Motion control; Sliding mode control; Underwater vehicles; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN
0-7803-9044-X
Type
conf
DOI
10.1109/ICMA.2005.1626895
Filename
1626895
Link To Document