Research on sliding mode controller with an integral applied to the motion of underwater vehicle

Abstract

A sliding mode controller with an integral for multi-variables system is devised to control the heading and speed of AUV in this paper. The simulation experiment results show that this scheme gives more robust and can eliminate steady error under disturbances. The accuracy heading and speed control is realized. 

Cite this paper

@article{Fu2005ResearchOS, title={Research on sliding mode controller with an integral applied to the motion of underwater vehicle}, author={Mingyu Fu and Xinqian Bian and Wei Wang and Jingxiong Gu}, journal={IEEE International Conference Mechatronics and Automation, 2005}, year={2005}, volume={4}, pages={2144-2149 Vol. 4} }