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  • 标题:Higher Order Sliding Mode Control for Autonomous Underwater Vehicles in the Diving Plane ∗
  • 本地全文:下载
  • 作者:Jorge E. Ruiz-Duarte ; Alexander G. Loukianov
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2015
  • 卷号:48
  • 期号:16
  • 页码:49-54
  • DOI:10.1016/j.ifacol.2015.10.257
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThe problem of robustly control an Autonomous Underwater Vehicle in the diving plane is addressed. Sliding Mode techniques are used for both, the control law and the design of an state observer. Numerical simulations show the effectiveness of the proposed control in the state and output feedback cases.
  • 关键词:KeywordsAutonomous Underwater VehiclesSliding ModeRobust ControlNon-Minimum Phase SystemsNonlinear Observer
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