TY - JOUR
T1 - Control design of motion of Autonomous Underwater Vehicle (AUV) with Active Ballast using Sliding Mode Control
AU - Mardlijah,
AU - Chandra, A.
AU - Adzkiya, D.
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2021/3/29
Y1 - 2021/3/29
N2 - Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. In this research, a sliding mode controller will be designed to adjust the following motion of an AUV: surge, heave and yaw. We developed a mathematical model for an AUV with active ballast at a certain depth. The results showed that the hitting time for surge, heave, yaw motions is less than 12.7 seconds, 9.8 seconds and 6.9 seconds, respectively. Steady state error on surge, heave and yaw motion is less than 0.0003%, 0.0005% and 0.0003%. Finally, overshoot of the response of each motion is 0%.
AB - Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. In this research, a sliding mode controller will be designed to adjust the following motion of an AUV: surge, heave and yaw. We developed a mathematical model for an AUV with active ballast at a certain depth. The results showed that the hitting time for surge, heave, yaw motions is less than 12.7 seconds, 9.8 seconds and 6.9 seconds, respectively. Steady state error on surge, heave and yaw motion is less than 0.0003%, 0.0005% and 0.0003%. Finally, overshoot of the response of each motion is 0%.
UR - http://www.scopus.com/inward/record.url?scp=85103908892&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/1821/1/012056
DO - 10.1088/1742-6596/1821/1/012056
M3 - Conference article
AN - SCOPUS:85103908892
SN - 1742-6588
VL - 1821
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012056
T2 - 6th International Conference on Mathematics: Pure, Applied and Computation, ICOMPAC 2020
Y2 - 24 October 2020
ER -