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.
https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01368470
Contributeur : Benoit Clement <>
Soumis le : lundi 6 novembre 2017 - 15:24:03 Dernière modification le : mercredi 24 juin 2020 - 16:19:51
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⟩