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Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV)

机译：适用于自动水下航行器（AUV）的无抖动滑模控制器的比较研究

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This paper carried out a comparative study between three different Sliding Mode Control strategies applied to an Autonomous Underwater Vehicle's (AUV) position control in 6 DOFs, under the influence of wind, waves and ocean currents. The comparative study aims to avoid the Chattering effects looking for an acceptable trade-off between tracking error performance and closed-loop system stability. To this end, stability proofs and computational simulations for the control strategies were performed with satisfactory results.

机译：本文在风，浪和洋流的影响下，将三种不同的滑模控制策略应用于6个自由度的自动水下航行器（AUV）位置控制之间进行了比较研究。这项比较研究旨在避免在跟踪误差性能和闭环系统稳定性之间寻求可接受的折衷方案，从而避免出现抖振效应。为此，对控制策略进行了稳定性证明和计算仿真，结果令人满意。

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《Portuguese Conference on Automatic Control》|2015年|587-596|共10页
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Mariana Uzeda Cildoz; Carlos Henrique Farias Dos Santos; Romeu Reginatto;
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关键词
Sliding Mode Control; Robust Control; Autonomous Underwater Vehicles (AUV); Chattering Problem;

机译：滑模控制;鲁棒控制;自主水下航行器（AUV）;颤抖问题;

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专利

1. 考虑剩余静载的高速AUV新型滑模控制器设计 [J] . 姜春萌, 万磊, 孙玉山, 中南大学学报（英文版） . 2018,第001期
2. A Chattering-free Sliding-mode Controller For Underwater Vehicles With Faulttolerant Infinity-norm Thrust Allocation [J] . Serdar Soylu, Bradley J. Buckham, Ron P. Podhorodeski Ocean Engineering . 2008,第16期

机译：具有容错无限范数推力分配的水下航行器的无抖动滑模控制器
3. Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller [J] . Mohammad Hedayati Khodayari, Saeed Balochian Journal of marine science and technology . 2015,第3期

机译：自适应模糊PID控制器在水下航行器航向和深度姿态建模与控制中的应用
4. A novel adaptive second-order sliding mode controller for autonomous underwater vehicles [J] . Rupam Gupta Roy, Dibyendu Ghoshal Adaptive Behavior . 2021,第1期

机译：一种用于自主水下车辆的新型自适应二阶滑动模式控制器
5. Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV) [C] . Mariana Uzeda Cildoz, Carlos Henrique Farias Dos Santos, Romeu Reginatto Portuguese Conference on Automatic Control . 2015

机译：抖动滑动模式控制器应用于自主水下车辆（AUV）的比较研究
6. A novel energy based design methodology of sliding mode controllers for tracked autonomous guided vehicles. [D] . Al-Jarrah, Ahmad Mohammad. 2007

机译：一种用于跟踪自动驾驶车辆的滑模控制器的基于能量的新颖设计方法。
7. Experimental Evaluation on Depth Control Using Improved Model Predictive Control for Autonomous Underwater Vehicle (AUVs) [O] . Feng Yao, Chao Yang, Xing Liu, 2018

机译：基于改进模型预测控制的自动水下航行器深度控制的实验评估
8. Plant / Controller Optimization with applications to Integrated Surface Sizing and Feedback Controller Design for Autonomous Underwater Vehicles (AUVs) [O] . Silvestre C., Pascoal A., Kaminer I., 1998

机译：工厂/控制器优化及其在自主水下航行器（AUV）的集成表面尺寸和反馈控制器设计中的应用
9. Advanced Non-Linear Control Algorithms Applied to Design Highly Maneuverable Autonomous Underwater Vehicles (AUVs) [R] . Djapic, V., Farrell, J. A., Miller, P., 2007

机译：用于设计高度机动自主水下航行器（aUV）的先进非线性控制算法

Comparative Study of Chattering-Free Sliding Mode Controllers Applied to an Autonomous Underwater Vehicle (AUV)

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