An autonomous underwater vehicle (AUV) flight control system using sliding mode control

Author

Dougherty, Frank ; Sherman, Tom ; Woolweaver, Gary ; Lovell, Gib

Author_Institution

Martin Marietta Aero & Naval Syst., Baltimore, MD, USA

fYear

1988

fDate

31 Oct-2 Nov 1988

Firstpage

1265

Abstract

The authors discuss ongoing work in the design of an advanced AUV control system. They focus on the application of a nonlinear control technique known as sliding mode control (SMC) to an AUV testbed being developed at Martin Marietta. It is noted that AUVs present challenges in the area of dynamic closed loop control. AUV control systems must be able to robustly control movement of all angles of attack or sideslip, adapt to changing mission payloads and dynamics, and provide a tolerance to control element failures. SMC provides a theoretical framework for the design of controllers that can meet these requirements. The AUV control system has been designed using SMC and is being prepared for at sea testing onboard the Martin Marietta AUV testbed in early 1989

Keywords

marine systems; nonlinear control systems; variable structure systems; angles of attack; autonomous underwater vehicle; dynamic closed loop control; flight control system; marine systems; nonlinear control systems; nonlinear control technique; robust control; sideslip; sliding mode control; variable structure systems; Aerodynamics; Aerospace control; Control systems; Nonlinear dynamical systems; Payloads; Robust control; Robust stability; Sliding mode control; System testing; Testing; Underwater vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '88. A Partnership of Marine Interests. Proceedings

Conference_Location

Baltimore, MD

Type

conf

DOI

10.1109/OCEANS.1988.23697

Filename

23697