Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Ocean Engineering Year : 2024

Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments

Abstract

In this study, we developed a saturated super-twisting algorithm for autonomous underwater vehicles to address the trajectory tracking problem. On the basis of Lyapunov arguments, we performed a stability analysis of the resulting closed-loop system under the proposed controller, considering the MIMO system dynamics, parametric uncertainties, and external disturbances. Finally, we conducted several real-time experiments to demonstrate the effectiveness and robustness of the proposed control solution as compared to the traditional super-twisting algorithm.
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Dates and versions

lirmm-04516120 , version 1 (22-03-2024)

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Jesús Guerrero, Ahmed Chemori, Vincent Creuze, Jorge Torres, Eduardo Campos. Saturated STA-based sliding-mode tracking control of AUVs: Design, stability analysis, and experiments. Ocean Engineering, 2024, 301, pp.117560. ⟨10.1016/j.oceaneng.2024.117560⟩. ⟨lirmm-04516120⟩
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