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The depth control problem is described and addressed for a small autonomous underwater vehicle in this paper. Based on the nonlinear model of AUV in vertical plane, the paper established a mathematical model of AUV's depth motion in vertical plane by linearizing the model at a specified operating point. An optimal integral-sliding-mode controller was designed for the AUV depth control system by constructing...
In this paper, the Variable Structure Control (VSC) method is integrated with a nonlinear suboptimal control method based on Control Lyapunov Function (CLF). According to the system nominal part, a CLF is first constructed in general to facilitate the nonlinear optimal system design and Sontagpsilas formula is used in particular to generate a suboptimal controller. To take system uncertainties into...
The trajectory of movement of the closed system in phase space containing a contour of a feedback, and also a circuit of averaging and transformation of external influences, with optimization of the forecast of control on a sliding interval is found.
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