Recursive least square algorithm and sliding mode controller to diving system of an AUV

The problems of model identification and depth control for an autonomous underwater vehicle (AUV) are addressed in this paper. In order to enhance the controller's reliability, estimation of parameters using experimental data from previous lake tests of an AUV named BSA is carried out to minimi...

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Bibliographic Details
Published inProceedings of the 33rd Chinese Control Conference pp. 88 - 92
Main Authors Jiajia Zhou, Heming Jia, Haomiao Yu, Honghan Zhang
Format Conference Proceeding
LanguageEnglish
Published TCCT, CAA 01.07.2014
Subjects
autonomous underwater vehicle
Control systems
depth control
Hydrodynamics
Lakes
Mathematical model
Oceans
Parameter estimation
sliding mode controller
Underwater vehicles
Vehicles
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Summary:The problems of model identification and depth control for an autonomous underwater vehicle (AUV) are addressed in this paper. In order to enhance the controller's reliability, estimation of parameters using experimental data from previous lake tests of an AUV named BSA is carried out to minimize modeling error. With the identified hydrodynamic model in the vertical plane, this paper adopts an optimal sliding mode control scheme to solve the depth control problem in the presence of vehicle's nonlinear terms and model uncertainty. This proposed method verified by simulation and lake trial shows that it is effective to realize depth control with the help of system identification.
ISSN:2161-2927
DOI:10.1109/ChiCC.2014.6896601