Publication Type : Conference Proceedings
Publisher : IEEE
Source : India Council International Conference (INDICON)
Url : https://ieeexplore.ieee.org/abstract/document/9691723
Campus : Amaravati
School : School of Computing
Year : 2021
Abstract : A linearized and reduced-order pitch channel model of an experimental autonomous underwater vehicle AUV-150 is considered. A sliding mode controller (SMC) is designed by considering the parametric variations in the state of the pitch channel. A delayed output estimator is designed by considering a delay in the measurement signal of pitch channel dynamics. The proposed SMC based delayed output estimator tracks the vehicle position under parametric variations and time-varying disturbances. The closed-loop stability is analysed. The observer error and tracking error asymptotic convergence is realized. Furthermore, controller performance is demonstrated through simulation results using MATLAB Simulink R2019b (9.7.0.1471314).
Cite this Research Publication : R. P. Desai and N. S. Manjarekar, Pitch Channel Tracking Control of an Autonomous Underwater Vehicle with Delayed Output,2021 IEEE 18th India Council International Conference (INDICON), Guwahati, India, 2021