Sliding mode reference conditioning for path following applied to an AUV.

JUAN LUIS ROSENDO; BENOIT CLEMENT; FABRICIO GARELLI

Trondheim

Congreso; 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016).; 2016

IFAC

This work presents a model for an autonomous underwater vehicle (AUV), avalidation of this model together with the simulator obtained from its application, and animplementation of sliding mode reference conditioning (SMRC) in order to follow a path atmaximum speed with bounded errors in a dynamical framework, which leads to an improvementin path tracking time.