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A Robust Control Algorithm for AUV: Based on a High Order Sliding Mode

Tomas Salgado-Jimenez 1 Jean-Mathias Spiewak 1 Philippe Fraisse 2 Bruno Jouvencel 3
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper proposes to introduce new control law algorithm based on high order sliding modes (HOSM) for dive control of the autonomous underwater vehicle (AUV) Taipan. A comparison with classical sliding mode (SM) is carried out as well. These control techniques are based on second order sliding modes. High order methods allow overcoming the chattering effect by removing the discontinuity of the control vector. We show that these high order controllers hold the properties of classical SM control laws and remove chattering problem. Another part of this paper is dedicated to compare SM vs. HOSM in Matlab simulations. These results underline the robustness of the HOSM at last.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108862
Contributor : Christine Carvalho de Matos <>
Submitted on : Monday, October 23, 2006 - 12:57:02 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:28 PM

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Tomas Salgado-Jimenez, Jean-Mathias Spiewak, Philippe Fraisse, Bruno Jouvencel. A Robust Control Algorithm for AUV: Based on a High Order Sliding Mode. OCEANS, Nov 2004, Kobe, Japan. pp.276-281, ⟨10.1109/OCEANS.2004.1402929⟩. ⟨lirmm-00108862⟩

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