Abstract
This paper presents a steering and diving control of an autonomous underwater vehicle (AUV) platform named KAUV, which is designed as a torpedo with light weight and small size. Through a unique ducted propeller and rudder located at the aft, the KAUV can perform horizontal motion. It also control pitch angle and depth motion with an inside mass shifter mechanism which changes the vehicle center of gravity. Because the system to be controlled is highly nonlinear, a sliding mode control (SMC) is constructed to compensate the effects of modeling nonlinearity, parameter uncertainty, and disturbance. This proposed control algorithm is derived from the linearized vehicle dynamics for steering and diving planes. To check the response of the vehicle system with the developed controllers, a series of simulation results are also simulated and presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
