Title :
Nonlinear Trajectory Control of Autonomous Underwater Vehicles Using the Sliding Methodology
Author :
Yoerger, D. ; Slotine, Jean-Jacques
Author_Institution :
Woods Hole Oceanographic Institution, Woods Hole, Massachusetts, USA
Abstract :
A new variation on sliding control is shown to be very effective for the control of underwater vehicles. The method deals with nonlinearities directly, is highly robust to imprecise models, and is intuitively appealing. The method is demonstrated using a nonlinear vehicle simulation.
Keywords :
Control systems; Frequency; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Robust control; Sliding mode control; Uncertainty; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS 1984
Conference_Location :
Washington, DC, USA
DOI :
10.1109/OCEANS.1984.1152240
