Yaw Controller in Sliding Mode for Underwater Autonomous Vehicle

摘要

Autonomous Underwater Vehicles (AUV) have become a new tool for researchers for their applications in different research areas. The control system is responsible for ensure the autonomous behavior of this kind of vehicle. Currently, unconventional strategies are used to control AUV's, because of the advantages they offer. The present article presents the methodology design for the slider and the results it offers for the autonomous underwater vehicle HRC-AUV developed by the Robotics and Automation Group Perception (GARP). Control of direction in sliding mode is designed from the model 3 DOF nonlinear dynamics defining HRC-AUV in the horizontal plane. This design simulation is evaluated by using a solution to reduce the undesirable effect of the chattering.