An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Danilo G. Chavez; Oscar Camacho; José Daniel Guanoluisa; Hugo Leiva

An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Danilo G. Chavez, Oscar Camacho, José Daniel Guanoluisa, Hugo Leiva

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

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Resumen

This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).

Idioma original	Inglés
Páginas (desde-hasta)	42-55
Número de páginas	14
Publicación	RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao
Volumen	2019
N.º	19
Estado	Publicada - abr. 2019
Publicado de forma externa	Sí

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title = "An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay",

abstract = "This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).",

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An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay. / Chavez, Danilo G.; Camacho, Oscar; Guanoluisa, José Daniel et al.
En: RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao, Vol. 2019, N.º 19, 04.2019, p. 42-55.

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

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AU - Guanoluisa, José Daniel

AU - Leiva, Hugo

PY - 2019/4

Y1 - 2019/4

N2 - This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).

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An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

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