Control design of motion of Autonomous Underwater Vehicle (AUV) with Active Ballast using Sliding Mode Control

Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. In this research, a sliding mode controller will be designed to adjust the following motion of an AUV: surge, heave and yaw. We developed a mathematical model for an AUV with active ballast at a certain d...

Full description

Saved in:
Bibliographic Details
Published in:Journal of physics. Conference series 2021-03, Vol.1821 (1), p.12056
Main Authors: Mardlijah, Chandra, A, Adzkiya, D
Format: Article
Language:English
Subjects:
Autonomous underwater vehicles
Control systems design
Physics
Sliding mode control
Unmanned submarines
Yaw
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. In this research, a sliding mode controller will be designed to adjust the following motion of an AUV: surge, heave and yaw. We developed a mathematical model for an AUV with active ballast at a certain depth. The results showed that the hitting time for surge, heave, yaw motions is less than 12.7 seconds, 9.8 seconds and 6.9 seconds, respectively. Steady state error on surge, heave and yaw motion is less than 0.0003%, 0.0005% and 0.0003%. Finally, overshoot of the response of each motion is 0%.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1821/1/012056