Robust-save energy controller on an autonomous underwater vehicle with obstacles avoidance

• Main Authors: Putranti, V., Ismail, Z. H.
• Format: Article
• Language: English
• Published: National Institute of Science Communication and Information Resources (NISCAIR) 2017
• Subjects: T Technology (General)
• Online Access: http://eprints.utm.my/id/eprint/76276/1/VinaPutranti_Robust-saveEnergyController.pdf; http://eprints.utm.my/id/eprint/76276/; https://www.scopus.com/inward/record.uri?eid=2-s2.0-85037046833&partnerID=40&md5=8f4b1db84fda38160220595b8951bd98
• Institution: Universiti Teknologi Malaysia

This paper presents a robust-saved energy control and obstacles avoidance technique for an Autonomous Underwater Vehicle (AUV). A super twisting sliding mode which consists of discontinues and continuous function is engaged as a robust control. A discontinuous function is useful to switch between tw...