Sliding mode reference conditioning for path following applied to an AUV.**This research is partially supported by EIFFEL scholarship from France Government, by CONICET (PIP0361 and 0237), MIN-CYT(PICT2394) and UNLP(I164), Argentina.

ROSENDO, JUAN LUIS; CLEMENT, BENOIT; GARELLI, FABRICIO

IFAC-PapersOnLine

Elsevier

Lugar: Amsterdam; Año: 2016 vol. 49 p. 8 - 13

2405-8963

This work presents a dynamic model for an autonomous underwater vehicle (AUV),a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in system actuators, resulting in an improvement of the path tracking time.