Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bartolini G., Punta E., Usai E. Tracking Control of Underwater Vehicles including Thruster Dynamics by Second Order Sliding Modes. In: Oceans '98 - Conference proceedings (Nice, France, 28 September-1 October 1998). Proceedings, vol. 3 pp. 1645 - 1649. IEEE, 1998.
The paper is devoted to the introduction of a multi-input second order sliding mode control algorithm in a underwater robotic context. This approach guarantees perfect tracking and stabilization in presence of disturbance and uncertainties typical of this kind of system. This property is guaranteed by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous.
DOI: 10.1109/OCEANS.1998.726367
Subject force control
mobile robots
position control
robot dynamics
uncertain systems
underwater vehicles
variable structure systems

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