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Adaptive Sliding Mode Control of an Autonomous Underwater Vehicle
Wu BJ(吴宝举); Li S(李硕); Wang XH(王晓辉)
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2009
Volume31Issue:S1Pages:22-25
Indexed ByEI
EI Accession number20103013094119
Contribution Rank1
KeywordAuv Discrete-time Sliding Mode Control Adaptive Control
AbstractThis paper presents an adaptive sliding mode controller for an autonomous under water vehicle (AUV) in the presence of parameter uncertainties and external disturbance. The controller makes the system stable in the presence of system uncertainties and external disturbances. It is a discrete time sliding mode controller. The proposed algorithm has a time varying sliding surface which is obtained by parameter estimation method. A smooth saturation function for maintaining the stable condition of the system is used to reduce the control chatter and transient performance of system. The presented algorithms are applied to the problem of depth control of an AUV. Resulting performances are tested by simulation.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7467
Collection水下机器人研究室
Corresponding AuthorWu BJ(吴宝举)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Wu BJ,Li S,Wang XH. Adaptive Sliding Mode Control of an Autonomous Underwater Vehicle[J]. 机器人,2009,31(S1):22-25.
APA Wu BJ,Li S,&Wang XH.(2009).Adaptive Sliding Mode Control of an Autonomous Underwater Vehicle.机器人,31(S1),22-25.
MLA Wu BJ,et al."Adaptive Sliding Mode Control of an Autonomous Underwater Vehicle".机器人 31.S1(2009):22-25.
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