Controlador de rumbo en modo deslizante para vehículo autónomo subacuático (Yaw Controller in Sliding Mode for Underwater Autonomous Vehicle)

Yunier Valeriano Medina (yunierv@uclv.edu.cu)1, Alexei Fernández Tkachova (tkachora@uclv.cu)1, Luis Hernández Santana (luishs@uclv.edu.cu)1, Pablo Jose Prieto Entenza (pabloentenza85@gmail.com)2


1Universidad Central
2Instituto Tecnológico de Tijuana

This paper appears in: Revista IEEE América Latina

Publication Date: March 2016
Volume: 14,   Issue: 3 
ISSN: 1548-0992


Abstract:
Autonomous Underwater Vehicles (AUV) have become a new tool for researchers for their applications in different research areas. The control system is responsible for ensure the autonomous behavior of this kind of vehicle. Currently, unconventional strategies are used to control AUV's, because of the advantages they offer. The present article presents the methodology design for the slider and the results it offers for the autonomous underwater vehicle HRC-AUV developed by the Robotics and Automation Group Perception (GARP). Control of direction in sliding mode is designed from the model 3 DOF nonlinear dynamics defining HRC-AUV in the horizontal plane. This design simulation is evaluated by using a solution to reduce the undesirable effect of the chattering.

Index Terms:
autonomous underwater vehicles, dynamic model, chattering, sliding mode control   


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