Sliding mode reference conditioning for path following applied to an AUV

Juan Luis Rosendo (1, 2, 3) , Benoit Clement (3, 4) , Fabricio Garelli (1)

1 UNLP - Universidad Nacional de la Plata [Argentine]
2 STIC - Département STIC [Brest]
3 Lab-STICC_ENSTAB_CID_PRASYS
4 Pôle STIC_OSM

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.

Mots clés: AUV; Simulators; Robotics; Actuator constraints; Sliding mode; Path following

Domaines: Automatique / Robotique

Juan Luis Rosendo, Benoit Clement, Fabricio Garelli. Sliding mode reference conditioning for path following applied to an AUV. 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016), Sep 2016, Trondheim, Norway. ⟨hal-01368470⟩