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

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10.1016/j.ifacol.2016.10.314Licence: In Copyright

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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.",

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AU - Clement, Benoit

AU - Garelli, Fabricio

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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 - https://www.scopus.com/pages/publications/84994151974

U2 - 10.1016/j.ifacol.2016.10.314

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M3 - Article

AN - SCOPUS:84994151974

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VL - 49

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JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

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ER -

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

Abstract

Keywords

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