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Equidistance Tracking Nonlinear Controller for Under Actuated Autonomous Underwater Vehicles

[+] Author Affiliations
Behzad Taheri, Edmond Richer

Southern Methodist University, Dallas, TX

Paper No. DSCC2010-4113, pp. 233-240; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 1
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4417-5 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


A new method of path planning and tracking while maintaining a constant distance from underwater moving objects has been developed for autonomous underwater vehicles (AUVs). First a kinematics controller that generates the proper trajectories is designed. Then a dynamics sliding mode controller is employed to drive the vehicle on the desired trajectories. The dynamics controller is robust against the parameter uncertainty in the dynamics model of the vehicle. Results of numerical simulations for INFANTE-AUV model show excellent performance for tracking of an object on sinusoidal trajectory.

Copyright © 2010 by ASME



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