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Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles
Abstract
A six-degree-of-freedom model for the maneuvering of an underwater vehicle is used and a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions. In flight control applications of this kind, difficulties arise because the system to be controlled is highly nonlinear and coupled, and there is a good deal of parameter uncertainty and variation with operational conditions. The development of variable-structure control in the form of sliding modes has been shown to provide robustness that is expected to be quite remarkable for AUV autopilot design. It is shown that a multivariable sliding-mode autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering, and diving response of a slow AUV. The influence of speed, modeling nonlinearity, uncertainty, and disturbances, can be effectively compensated, even for complex maneuvering. Waypoint acquisition based on line-of-sight guidance is used to achieve path tracking.>
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Cited by
(2014) · IEEE Control Systems · doi:10.1109/mcs.2013.2287568 · Cited by 462
Moe, S., Pettersen, K. Y., Fossen, T. I., & Gravdahl, J. T. (2016) · 2016 24th Mediterranean Conference on Control and Automation (MED) · doi:10.1109/med.2016.7536018 · Cited by 52
Metadata
- Authors
- Healey, A. J., & Lienard, D.
- Venue
- IEEE Journal of Oceanic Engineering
- Published
- 1993-07
- Volume
- 18
- Issue
- 3
- Pages
- 327-339
- ISSN
- 0364-9059 (ISSN-L)
- OpenAlex
- W2122075174
- Cited by
- 951
- References
- 0
- FWCI
- 37.06
- Type
- journal article
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. https://app.cochat.ai/papers/10.1109/joe.1993.236372
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- Healey, A. J., & Lienard, D. (1993). Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE Journal of Oceanic Engineering. https://doi.org/10.1109/joe.1993.236372
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
