Sliding mode Control of an Autonomous Underwater vehicle with Parametric uncertainty and Sensors Noises

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Hasanzadeh Ghasemi R.; Hedayati Khodayari M.

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2019 | Volume:48 | Issue:4 (85) Page(s): 107-116

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Information Journal Paper

Title

Sliding mode Control of an Autonomous Underwater vehicle with Parametric uncertainty and Sensors Noises

Author(s)

Hasanzadeh Ghasemi R. | Hedayati Khodayari M. | Issue Writer Certificate

Keywords

Sliding Mode Control

Autonomous Underwater Vehicle

Chattering

Kalman Filter Observer

Abstract

Sliding Mode Control, due to its great robustness, is very effective approach for underwater vehicles. Due to complexity of underwater environment and existence of disturbance, robust controllers such as Sliding Mode Control have appropriate results in experimental tests. In this paper, Sliding Mode Control has been used for depth channel and steering channel. It has been used for linear and nonlinear systems with parametric uncertainty and sensor noise. Kalman Filter Observer has been applied to estimate the values of state variables of the underwater vehicle dynamic system that is excited by stochastic disturbances and stochastic measurement noise. Simulation results show that the proposed method is effective in control of depth and steering of the AUV and show that this method can obtain high precision tracking control performance.

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APA: Copy

Hasanzadeh Ghasemi, R., & Hedayati Khodayari, M.. (2019). Sliding mode Control of an Autonomous Underwater vehicle with Parametric uncertainty and Sensors Noises. JOURNAL OF MECHANICAL ENGINEERING, 48(4 (85) ), 107-116. SID. https://sid.ir/paper/269932/en

Vancouver: Copy

Hasanzadeh Ghasemi R., Hedayati Khodayari M.. Sliding mode Control of an Autonomous Underwater vehicle with Parametric uncertainty and Sensors Noises. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2019;48(4 (85) ):107-116. Available from: https://sid.ir/paper/269932/en

IEEE: Copy

R. Hasanzadeh Ghasemi, and M. Hedayati Khodayari, “Sliding mode Control of an Autonomous Underwater vehicle with Parametric uncertainty and Sensors Noises,” JOURNAL OF MECHANICAL ENGINEERING, vol. 48, no. 4 (85) , pp. 107–116, 2019, [Online]. Available: https://sid.ir/paper/269932/en

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