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Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. (English) Zbl 1334.93128

Summary: We propose an Integral Sliding Mode Controller (ISMC) to stabilize an Autonomous Underwater Vehicle (AUV) which is subject to modeling errors and often suffers from unknown environmental disturbances. The ISMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides and currents. The ISMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable. Numerical simulations are performed to validate the proposed control approach, and experimental tests using Cyclops AUV are carried out to demonstrate its practical feasibility.

MSC:

93C85 Automated systems (robots, etc.) in control theory
93B35 Sensitivity (robustness)
93B12 Variable structure systems
93C73 Perturbations in control/observation systems
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