Methods of Discontinuous Control for the Autonomous Underwater Vehicles
New methods of the synthesis of multi-dimensional robust and adaptive control systems for the centralized control of the spatial motion of autonomous underwater vehicles (AUV) is developed in this paper, such as variable structure system (VSS) and self-adjustment system with reference model. The conditions of the sliding mode existence and the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized discontinuous control provides the high control quality at any variations of the object parameters within the given ranges.
Yun-Hae Kim and Prasad Yarlagadda
A. Lebedev, "Methods of Discontinuous Control for the Autonomous Underwater Vehicles", Applied Mechanics and Materials, Vols. 278-280, pp. 1473-1476, 2013