Sliding Mode Tracking Control of an Autonomous Underwater Glider
The benefit of autonomous underwater gliders is their long range and high endurance for certain types of missions. Also by nature the gliders have relatively low operating speeds and depend strongly on the ocean environment of their operational area. To deal with this complex and changeable ocean environment, make the glider motion robust to parameter variations and disturbances, and track the predetermined output trajectories which connect the initial and final setpoints, an output tracking robust controller for an underwater glider in the vertical plane is designed based on the sliding mode control theory. Simulation results illustrate the effectiveness of the derived controller.
underwater glider tracking sliding mode control reaching law
Hai YANG Jie MA
State Kay Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200030, China
国际会议
太原
英文
555-558
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）