Excellence in Research and Innovation for Humanity
%0 Journal Article
%A Ahmad Forouzan Tabar and  Mohammad Azadi and  Alireza Alesaadi
%D 2014 
%J  International Journal of Computer, Electrical, Automation, Control and Information Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 87, 2014
%T Sliding Mode Control of Autonomous Underwater Vehicles
%U http://waset.org/publications/10002595
%V 87
%X This paper describes a sliding mode controller for
autonomous underwater vehicles (AUVs). The dynamic of AUV
model is highly nonlinear because of many factors, such as
hydrodynamic drag, damping, and lift forces, Coriolis and centripetal
forces, gravity and buoyancy forces, as well as forces from thruster.
To address these difficulties, a nonlinear sliding mode controller is
designed to approximate the nonlinear dynamics of AUV and
improve trajectory tracking. Moreover, the proposed controller can
profoundly attenuate the effects of uncertainties and external
disturbances in the closed-loop system. Using the Lyapunov theory
the boundedness of AUV tracking errors and the stability of the
proposed control system are also guaranteed. Numerical simulation
studies of an AUV are included to illustrate the effectiveness of the
presented approach.

%P 546 - 549