Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of Chattering Free Sliding Mode Controller for AUV

무인 수중 잠수정을 위한 채터링이 없는 슬라이딩 모드 제어기 설계

  • Kim, Hyoung-Joo (Dept. of Electric and Electronic Engineering of Yonsei Univ.) ;
  • Choi, Yoon-Ho (School of Electronic Engineering of Kyonggi Unuv.) ;
  • Park, Jin-Bae (Dept. of Electric and Electronic Engineering of Yonsei Univ.)
  • 김경주 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학부) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2006.07.12
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Abstract

The sliding mode control is acceptable for Autonomous Underwater Vehicle(AUV), since the dynamics of AUV are highly nonlinear and have several parameter uncertainty such as the added mass terms, the hydrodynamic coefficients. The sliding mode control can deal well with nonlinearity of the system and offers a robustness to controller with parameter uncertainty. Since sliding mode control has the defect of chattering problem, only in ideal case the actuator can respond by control law. Therefore we propose the sliding mode control with non-chattering. And computer simulations illustrate the performance of the proposed controller.

Keywords