Design of a sliding mode control for an autonomous underwater vehicle
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)(2020)
摘要
This paper presents the design and simulation of a Sliding Mode controller for a remotely operated underwater vehicle. We compared its behavior with a PID and Fuzzy controllers on a computer simulation of the commercially available BlueROV platform. Our experimental evaluation reveals a clear superiority of sliding mode control when compared with Fuzzy logic control and PID controllers.
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关键词
ROV,BlueROV,PID,Sliding Mode Control,Fuzzy Control
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