DocumentCode
2280926
Title
Tracking control of underwater vehicles including thruster dynamics by second order sliding modes
Author
Bartolini, G. ; Punta, E. ; Usai, E.
Author_Institution
Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy
Volume
3
fYear
1998
fDate
28 Sep-1 Oct 1998
Firstpage
1645
Abstract
The paper is devoted to the introduction of a multi-input second order sliding mode control algorithm in a underwater robotic context. This approach guarantees perfect tracking and stabilization in presence of disturbance and uncertainties typical of this kind of system. This property is guaranteed by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous
Keywords
force control; mobile robots; observers; position control; robot dynamics; stability; uncertain systems; underwater vehicles; variable structure systems; multi-input second order sliding mode control algorithm; thruster dynamics; tracking control; underwater robot; Control systems; Ear; Equations; Sliding mode control; Torque control; Uncertainty; Underwater tracking; Underwater vehicles; Vehicle dynamics; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '98 Conference Proceedings
Conference_Location
Nice
Print_ISBN
0-7803-5045-6
Type
conf
DOI
10.1109/OCEANS.1998.726367
Filename
726367
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