INVESTIGADORES
GARELLI Fabricio
congresos y reuniones científicas
Título:
Mitigación de los efectos de saturación en el seguimiento de caminos de AUVs
Autor/es:
JUAN LUIS ROSENDO; FABRICIO GARELLI; HERNÁN DE BATTISTA; BENOIT CLEMENT
Lugar:
Buenos Aires
Reunión:
Congreso; 25vo. Congreso Argentino de Control Automático (AADECA 2016); 2016
Institución organizadora:
AADECA
Resumen:
The path following duties have huge importance in mobile roboticsapplications, especially in submarine environments where autonomous underwatervehicles (AUV) are employed. In this paper a method based on sliding mode techniqueis presented. The objective is to follow a prescribed path at maximum speed withbounded errors in a dynamical framework, taking care of the saturation in systemsactuators. In addition, this method is compared with a traditional path followingimplementation resulting in an improvement of the path tracking time.
