Thruster control for the positioning of the marine vehicles via feedback linearization and sliding control approaches

Abstract

In this paper the control of revolutions described by a direct current motor with a shunt configuration has been carried out. The procedure consists of an input - output feedback linearization of the nonlinear model that characterises this system followed by the design by sliding control procedure based on the backstepping theory with the objective of obtaining a controller capable of performing the regulation control and the tracking control purposes. The procedure lets us do this task with an uncertainty in the model parameters and the application of several error criteria with the purpose of satisfying the control requirements.