论文信息 - Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV)

Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV)

This paper carried out a comparative study between three different Sliding Mode Control strategies applied to an Autonomous Underwater Vehicle’s (AUV) position control in 6 DOFs, under the influence of wind, waves and ocean currents. The comparative study aims to avoid the Chattering effects looking for an acceptable trade-off between tracking error performance and closed-loop system stability. To this end, stability proofs and computational simulations for the control strategies were performed with satisfactory results.

Romeu Reginatto | Carlos Henrique Farias Dos Santos | Mariana Uzeda Cildoz

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