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Nonlinear Control of an Unmanned Amphibious Vehicle

[+] Author Affiliations
Jose Alvarez, Ivan R. Bertaska, Karl von Ellenrieder

Florida Atlantic University, Dania Beach, FL

Paper No. DSCC2013-4039, pp. V003T34A005; 5 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


The development and implementation of an experimental sliding mode control law for a 2.5 meter long unmanned amphibious vehicle (the DUKW-Ling) when waterborne is presented. A first-order sliding control surface is used for surge tracking error when a P controller is used to minimize the heading error in the system. The state of the vehicle is measured using onboard sensors with the ability to record surge, sway, yaw and position of the vehicle in real-time. Experimental data collected show the ability of the vessel to maintain a desired heading and speed. This article emphasizes the ability of sliding mode controller to respond to the unpredictable and random water and wind currents acting on the vehicle.

Copyright © 2013 by ASME
Topics: Vehicles



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