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- W2380343208 abstract "The motion of Automous Underwater Vehicle (AUV) changes obviously when it sails near surface under the influence of ocean waves, so it is difficult to sustain the depth. An integral variable structure control was studied and applied to simulate the near-surface movement of AUV .The controller prevented AUV from floating up to the surface with wave disturbances effectively. Firstly hydrodynamic model of AUV was established and the calculation of the wave forces was introduced, then sliding mode control was proposed based on the model. In order to reduce the steady-state error in the None-Integral VSC, an integrator was added to the controller. Simulation results show that it restrains the steady-state error greatly and has quick response and anti-jamming ability." @default.
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- W2380343208 date "2007-01-01" @default.
- W2380343208 modified "2023-09-22" @default.
- W2380343208 title "Integral Variable Structure Control and Simulation for Near-surface Movement of AUV" @default.
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