A robust dynamic region-based control scheme for an autonomous underwater vehicle

• Main Authors: Ismail, Z. H., Mokhar, M. B. M., Putranti, V. W. E., Dunnigan, M. W.
• Format: Article
• Published: Elsevier Ltd 2016
• Subjects: T Technology (General)
• Online Access: http://eprints.utm.my/id/eprint/71701/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-84947590716&doi=10.1016%2fj.oceaneng.2015.10.052&partnerID=40&md5=9f17a9f1ca707b84b928273306ee1689
• Institution: Universiti Teknologi Malaysia

Intelligent control of an autonomous underwater vehicle (AUV) requires a control scheme which is robust to external perturbations. These perturbations are highly uncertain and can prevent the AUV from accomplishing its mission. A well-known robust control called sliding mode control (SMC) and its de...