Lyapunov-based guidance and Sliding Mode Control of an Autonomous Underwater Vehicle
Publish place: Conference on New Findings in Aerospace and Related Sciences
Publish Year: 1394
Type: Conference paper
Language: English
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Document National Code:
MAARS01_119
Index date: 6 March 2016
Lyapunov-based guidance and Sliding Mode Control of an Autonomous Underwater Vehicle abstract
In this article, a Lyapunov based guidance is discussed to obtain reference trajectory for an Autonomous Underwater Vehicle (AUV) with the purpose of tracking and reaching to a presumed target with a desired final angle. To meet this purpose, a controller should be used for the motion equations of the AUV in order to track the reference trajectories, where the robust sliding mode method is used for designing of the controller due to the existing uncertainty of the model. Eventually, the results derived from simulation displayed authenticity of the both guidance and control method
Lyapunov-based guidance and Sliding Mode Control of an Autonomous Underwater Vehicle Keywords:
Autonomous Underwater Vehicle (AUV) , Degree of freedom (DOF) , Hydrodynamic , Lyapunov function , Sliding mode control (SMC)
Lyapunov-based guidance and Sliding Mode Control of an Autonomous Underwater Vehicle authors
S.Arash Moghadam
Islamic Azad University Of Damavand, Tehran, Iran
A Kashaninia
Malekashtar University, Tehran, Iran.
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