Sliding mode reference conditioning for path following applied to an AUV
Title | Sliding mode reference conditioning for path following applied to an AUV |
Publication Type | Journal Article |
Year of Publication | 2016 |
Authors | Rosendo JL, Clement B, Garelli F |
Journal | IFAC-PapersOnLine |
Volume | 49 |
Pagination | 8-13 |
ISSN | 2405-8963 |
Abstract | This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time. |
DOI | 10.1016/j.ifacol.2016.10.314 |
Research Line:
Control de Sistemas Autónomos
Control of autonomous systems
Control and coordination of robotic systems
Control y coordinación de sistemas robóticos