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Design of Sliding Mode Autopilot with Steady-state Error Elimination for Autonomous Underwater Vehicles

Shi, Juan (2006) Design of Sliding Mode Autopilot with Steady-state Error Elimination for Autonomous Underwater Vehicles. Proceedings of TENCON 2006 (IEEE Region 10 Conference). pp. 1-4.

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Abstract

Autonomous Underwater Vehicles (AUVs) have nonlinear and time-varying behaviour and unmodelled dynamics. This paper describes the design, development and evaluation of nonlinear sliding mode autopilot system for an AUV to control the speed, steering and depth of the nonlinear AUV. It has also been observed by some researchers that the sliding mode controller is unable to eliminate the steady-state error. A method of eliminating the steady-state error associated with the sliding mode controller has been proposed in this paper. In addition, performances of the sliding mode autopilot were evaluated by simulation on the nonlinear model of the AUV over a variety of operating conditions. The robustness of the control system was evaluated in the presence of disturbances and parameter uncertainties.

Item Type: Article
Uncontrolled Keywords: autonomous underwater vehicles, sliding mode autopilot system, industrial design
Subjects: RFCD Classification > 290000 Engineering and Technology
Faculty/School/Research Centre/Department > School of Engineering and Science
Depositing User: Dr Juan SHI
Date Deposited: 01 May 2007
Last Modified: 23 May 2013 16:37
URI: http://vuir.vu.edu.au/id/eprint/635
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