Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Bartolini G., Punta E. Second Order Sliding Mode Tracking Control of Underwater Vehicles. In: ACC 2000 - American Control Conference (Chicago, Illinois, USA, 28-30 June 2000). Proceedings, vol. 1 pp. 65 - 69. IEEE, 2000.
The paper is devoted to the introduction of a multi-input second order sliding mode control algorithm in an underwater robotic context. This approach guarantees perfect tracking and stabilization in the presence of disturbance and uncertainties typical of this kind of system. This property can be guaranteed by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous.
DOI: 10.1109/ACC.2000.878773
Subject attitude control
matrix algebra
mobile robots
multivariable control systems
position control
robot dynamics
robot kinematics
uncertain systems
underwater vehicles
variable structure systems

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