Sliding mode reference conditioning for path following applied to an AUV.

Juan Luis Rosendo; Benoit Clement; Fabricio Garelli

doi:10.1016/j.ifacol.2016.10.314

Sliding mode reference conditioning for path following applied to an AUV.

Juan Luis Rosendo, Benoit Clement, Fabricio Garelli

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

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
Pages (from-to)	8-13
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	49
Issue number	23
DOIs	https://doi.org/10.1016/j.ifacol.2016.10.314
Publication status	Published - 2016
Externally published	Yes

Keywords

Actuator constraints
AUV
Path following
Robotics
Simulators
Sliding mode

Access to Document

10.1016/j.ifacol.2016.10.314Licence: In Copyright

Cite this

@article{a91888fe3e304303a63a072d045a64d6,

title = "Sliding mode reference conditioning for path following applied to an AUV.",

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.",

keywords = "Actuator constraints, AUV, Path following, Robotics, Simulators, Sliding mode",

author = "Rosendo, {Juan Luis} and Benoit Clement and Fabricio Garelli",

year = "2016",

doi = "10.1016/j.ifacol.2016.10.314",

language = "English",

volume = "49",

pages = "8--13",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "IFAC Secretariat",

number = "23",

}

TY - JOUR

T1 - Sliding mode reference conditioning for path following applied to an AUV.

AU - Rosendo, Juan Luis

AU - Clement, Benoit

AU - Garelli, Fabricio

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

KW - Actuator constraints

KW - AUV

KW - Path following

KW - Robotics

KW - Simulators

KW - Sliding mode

UR - http://www.scopus.com/inward/record.url?scp=84994151974&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2016.10.314

DO - 10.1016/j.ifacol.2016.10.314

M3 - Article

AN - SCOPUS:84994151974

SN - 2405-8963

VL - 49

SP - 8

EP - 13

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 23

ER -

Sliding mode reference conditioning for path following applied to an AUV.

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this