Yaw Controller in Sliding Mode for Underwater Autonomous Vehicle


Autonomous Underwater Vehicles (AUV) have become a replacement tool for researchers for their applications in several research areas. The Control System is responsible for guarantee the autonomous behavior of this type of auto. Currently, unconventional ways are used to manage AUV's, as a result of 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 Cluster Perception (GARP). Control of direction in sliding mode is meant from the model 3 DOF nonlinear dynamics defining HRC-AUV in the horizontal plane. This design simulation is evaluated by using a resolution to cut back the undesirable effect of the chattering.

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