Sliding mode reference conditioning for path following applied to an AUV

TitleSliding mode reference conditioning for path following applied to an AUV
Publication TypeJournal Article
Year of Publication2016
AuthorsRosendo JL, Clement B, Garelli F
JournalIFAC-PapersOnLine
Volume49
Pagination8-13
ISSN2405-8963
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.

DOI10.1016/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