Sliding Mode Control of An X4-AUV

This paper presents a design method for attitude control of an autonomous underwater vehicle(X4-AUV) based sliding mode control. We are interested in the dynamic modeling of X4-AUV because of it complexity. The dynamic model is used to design a stable and accurate controller to perform the best tr...

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Main Authors:	Zainah, Md. Zain, N. N. A., Hanipah, Maziyah, Mat Noh, N., Harun, K. A. A., Rahim, N. M., Zain
Format:	Conference or Workshop Item
Language:	English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/11346/ http://umpir.ump.edu.my/id/eprint/11346/1/Sliding%20Mode%20Control%20of%20An%20X4-AUV.pdf

id	ump-11346
recordtype	eprints
spelling	ump-113462018-05-17T03:21:24Z http://umpir.ump.edu.my/id/eprint/11346/ Sliding Mode Control of An X4-AUV Zainah, Md. Zain N. N. A., Hanipah Maziyah, Mat Noh N., Harun K. A. A., Rahim N. M., Zain TK Electrical engineering. Electronics Nuclear engineering This paper presents a design method for attitude control of an autonomous underwater vehicle(X4-AUV) based sliding mode control. We are interested in the dynamic modeling of X4-AUV because of it complexity. The dynamic model is used to design a stable and accurate controller to perform the best tracking and attitude results. To stabilize the overall systems, each sliding mode controller is designed based on the Lyapunov stability theory. The advantage of sliding mode control is it’s not being sensitive to model errors, parametric uncertainties and other disturbances. Lastly, we show that the control law has a good robust and good stability through simulation. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/11346/1/Sliding%20Mode%20Control%20of%20An%20X4-AUV.pdf Zainah, Md. Zain and N. N. A., Hanipah and Maziyah, Mat Noh and N., Harun and K. A. A., Rahim and N. M., Zain (2015) Sliding Mode Control of An X4-AUV. In: International Conferences on Electrical, Control and Computer Engineering (INECCE2015), 27-28 Oct 2015 , Kuantan, Pahang. . (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Zainah, Md. Zain N. N. A., Hanipah Maziyah, Mat Noh N., Harun K. A. A., Rahim N. M., Zain Sliding Mode Control of An X4-AUV
description	This paper presents a design method for attitude control of an autonomous underwater vehicle(X4-AUV) based sliding mode control. We are interested in the dynamic modeling of X4-AUV because of it complexity. The dynamic model is used to design a stable and accurate controller to perform the best tracking and attitude results. To stabilize the overall systems, each sliding mode controller is designed based on the Lyapunov stability theory. The advantage of sliding mode control is it’s not being sensitive to model errors, parametric uncertainties and other disturbances. Lastly, we show that the control law has a good robust and good stability through simulation.
format	Conference or Workshop Item
author	Zainah, Md. Zain N. N. A., Hanipah Maziyah, Mat Noh N., Harun K. A. A., Rahim N. M., Zain
author_facet	Zainah, Md. Zain N. N. A., Hanipah Maziyah, Mat Noh N., Harun K. A. A., Rahim N. M., Zain
author_sort	Zainah, Md. Zain
title	Sliding Mode Control of An X4-AUV
title_short	Sliding Mode Control of An X4-AUV
title_full	Sliding Mode Control of An X4-AUV
title_fullStr	Sliding Mode Control of An X4-AUV
title_full_unstemmed	Sliding Mode Control of An X4-AUV
title_sort	sliding mode control of an x4-auv
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/11346/ http://umpir.ump.edu.my/id/eprint/11346/1/Sliding%20Mode%20Control%20of%20An%20X4-AUV.pdf
first_indexed	2023-09-18T22:11:59Z
last_indexed	2023-09-18T22:11:59Z
_version_	1777415088252125184

Sliding Mode Control of An X4-AUV

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