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

Juan Luis Rosendo, Benoit Clement, Fabricio Garelli

Research output: Contribution to journalArticlepeer-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 languageEnglish
Pages (from-to)8-13
Number of pages6
JournalIFAC-PapersOnLine
Volume49
Issue number23
DOIs
Publication statusPublished - 2016
Externally publishedYes

Keywords

  • Actuator constraints
  • AUV
  • Path following
  • Robotics
  • Simulators
  • Sliding mode

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