TY - GEN
T1 - Sliding mode control of lateral dynamics of an AUV
AU - Khan, Imran
AU - Bhatti, A. I.
AU - Khan, Qudrat
AU - Ahmad, Qadeer
PY - 2012
Y1 - 2012
N2 - This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.
AB - This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.
KW - Autonomous Underwater Vehicle (AUV)
KW - Higher Order Sliding Mode (HOSM)
KW - Sliding Mode Control (SMC)
UR - https://www.scopus.com/pages/publications/84860864370
U2 - 10.1109/IBCAST.2012.6177521
DO - 10.1109/IBCAST.2012.6177521
M3 - Conference contribution
AN - SCOPUS:84860864370
SN - 9781457719295
T3 - Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012
SP - 27
EP - 31
BT - Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012
ER -