Abstract
This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.
Original language | English |
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Pages (from-to) | 8-13 |
Number of pages | 6 |
Journal | IFAC-PapersOnLine |
Volume | 49 |
Issue number | 23 |
DOIs | |
Publication status | Published - 2016 |
Externally published | Yes |
Keywords
- Actuator constraints
- AUV
- Path following
- Robotics
- Simulators
- Sliding mode