Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these condition...

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Bibliographic Details
Main Authors: Mai The Vu, Tat-Hien Le, Ha Le Nhu Ngoc Thanh, Tuan-Tu Huynh, Mien Van, Quoc-Dong Hoang, Ton Duc Do
Format: Article
Language:English
Published: MDPI AG 2021-01-01
Series:Sensors
Subjects:
dynamic sliding mode controller
least-squares method
position control
quadratic programming
underwater vehicle
Online Access:https://www.mdpi.com/1424-8220/21/3/747

Internet

https://www.mdpi.com/1424-8220/21/3/747

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