info:eu-repo/semantics/article
Sliding mode reference conditioning for path following applied to an AUV
Fecha
2016-10Registro en:
Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio; Sliding mode reference conditioning for path following applied to an AUV; International Federation of Automatic Control; IFAC-PapersOnLine; 49; 23; 10-2016; 8-13
2405-8963
CONICET Digital
CONICET
Autor
Rosendo, Juan Luis
Clement, Benoit
Garelli, Fabricio
Resumen
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 systems actuators, resulting in an improvement of the path tracking time.