Sliding Mode Control of An X4-AUV

Zainah, Md. Zain and N. N. A., Hanipah and Maziyah, Mat Noh and N., Harun and K. A. A., Rahim and N. M., Zain (2015) Sliding Mode Control of An X4-AUV. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015) , 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished)

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This paper presents a design method for attitude control of an autonomous underwater vehicle(X4-AUV) based sliding mode control. We are interested in the dynamic modeling of X4-AUV because of it complexity. The dynamic model is used to design a stable and accurate controller to perform the best tracking and attitude results. To stabilize the overall systems, each sliding mode controller is designed based on the Lyapunov stability theory. The advantage of sliding mode control is it’s not being sensitive to model errors, parametric uncertainties and other disturbances. Lastly, we show that the control law has a good robust and good stability through simulation.

Item Type: Conference or Workshop Item (Speech)
Uncontrolled Keywords: X4-AUV, Sliding mode control, Nonlinear
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 23 Nov 2015 06:58
Last Modified: 17 May 2018 03:21
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