Sliding mode depth control of a hovering autonomous underwater vehicle

Yoong Siang Song; Mohd Rizal Arshad

doi:10.1109/ICCSCE.2015.7482225

Sliding mode depth control of a hovering autonomous underwater vehicle

Yoong Siang Song, Mohd Rizal Arshad

Universiti Sains Malaysia

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

14 Citations (Scopus)

Abstract

Hovering autonomous underwater vehicle (HAUV) play an important role in short distance underwater inspection mission. There are a lot of disturbances and uncertainties underwater, a robust control is needed to minimize the effects of external influences on HAUV's system behaviour, subjects to the constraint of not having a complete representation of the HAUV system. This paper describes the development of robust sliding mode depth control of a thruster propelled HAUV. Simulation results are presented to illustrate the performance of designed sliding mode depth control.

Original language	English
Title of host publication	Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	435-440
Number of pages	6
ISBN (Electronic)	9781479982523
DOIs	https://doi.org/10.1109/ICCSCE.2015.7482225
Publication status	Published - 31 May 2016
Externally published	Yes
Event	5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 - Batu Ferringhi, Penang, Malaysia Duration: 27 Nov 2015 → 29 Nov 2015

Publication series

Name	Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015

Conference

Conference	5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015
Country/Territory	Malaysia
City	Batu Ferringhi, Penang
Period	27/11/15 → 29/11/15

Keywords

hovering autonomous underwater vehicle
robust control
sliding mode control

Access to Document

10.1109/ICCSCE.2015.7482225

Cite this

Song, Y. S., & Arshad, M. R. (2016). Sliding mode depth control of a hovering autonomous underwater vehicle. In Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 (pp. 435-440). Article 7482225 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCSCE.2015.7482225

Song, Yoong Siang ; Arshad, Mohd Rizal. / Sliding mode depth control of a hovering autonomous underwater vehicle. Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 435-440 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015).

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title = "Sliding mode depth control of a hovering autonomous underwater vehicle",

abstract = "Hovering autonomous underwater vehicle (HAUV) play an important role in short distance underwater inspection mission. There are a lot of disturbances and uncertainties underwater, a robust control is needed to minimize the effects of external influences on HAUV's system behaviour, subjects to the constraint of not having a complete representation of the HAUV system. This paper describes the development of robust sliding mode depth control of a thruster propelled HAUV. Simulation results are presented to illustrate the performance of designed sliding mode depth control.",

keywords = "hovering autonomous underwater vehicle, robust control, sliding mode control",

author = "Song, {Yoong Siang} and Arshad, {Mohd Rizal}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015 ; Conference date: 27-11-2015 Through 29-11-2015",

year = "2016",

month = may,

day = "31",

doi = "10.1109/ICCSCE.2015.7482225",

language = "English",

series = "Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015",

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Song, YS & Arshad, MR 2016, Sliding mode depth control of a hovering autonomous underwater vehicle. in Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015., 7482225, Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015, Institute of Electrical and Electronics Engineers Inc., pp. 435-440, 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015, Batu Ferringhi, Penang, Malaysia, 27/11/15. https://doi.org/10.1109/ICCSCE.2015.7482225

Sliding mode depth control of a hovering autonomous underwater vehicle. / Song, Yoong Siang; Arshad, Mohd Rizal.
Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 435-440 7482225 (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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Song YS, Arshad MR. Sliding mode depth control of a hovering autonomous underwater vehicle. In Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 435-440. 7482225. (Proceedings - 5th IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2015). doi: 10.1109/ICCSCE.2015.7482225

Sliding mode depth control of a hovering autonomous underwater vehicle

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