Sliding mode reference conditioning for path following applied to an AUV

Autores
Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.
Fil: Rosendo, Juan Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentina
Fil: Clement, Benoit. Centre National de la Recherche Scientifique; Francia. Laboratoire Des Sciences Et Techniques de L'information, de la Communication Et de la Connaissance; Francia
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentina
Materia
ACTUATOR CONSTRAINTS
AUV
PATH FOLLOWING
ROBOTICS
SIMULATORS
SLIDING MODE
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/140720
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Sliding mode reference conditioning for path following applied to an AUVRosendo, Juan LuisClement, BenoitGarelli, FabricioACTUATOR CONSTRAINTSAUVPATH FOLLOWINGROBOTICSSIMULATORSSLIDING MODEhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.Fil: Rosendo, Juan Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaFil: Clement, Benoit. Centre National de la Recherche Scientifique; Francia. Laboratoire Des Sciences Et Techniques de L'information, de la Communication Et de la Connaissance; FranciaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; ArgentinaInternational Federation of Automatic Control2016-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/140720Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio; Sliding mode reference conditioning for path following applied to an AUV; International Federation of Automatic Control; IFAC-PapersOnLine; 49; 23; 10-2016; 8-132405-8963CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://linkinghub.elsevier.com/retrieve/pii/S2405896316319012info:eu-repo/semantics/altIdentifier/doi/10.1016/j.ifacol.2016.10.314info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:12:26Zoai:ri.conicet.gov.ar:11336/140720instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:12:26.276CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Sliding mode reference conditioning for path following applied to an AUV
title Sliding mode reference conditioning for path following applied to an AUV
spellingShingle Sliding mode reference conditioning for path following applied to an AUV
Rosendo, Juan Luis
ACTUATOR CONSTRAINTS
AUV
PATH FOLLOWING
ROBOTICS
SIMULATORS
SLIDING MODE
title_short Sliding mode reference conditioning for path following applied to an AUV
title_full Sliding mode reference conditioning for path following applied to an AUV
title_fullStr Sliding mode reference conditioning for path following applied to an AUV
title_full_unstemmed Sliding mode reference conditioning for path following applied to an AUV
title_sort Sliding mode reference conditioning for path following applied to an AUV
dc.creator.none.fl_str_mv Rosendo, Juan Luis
Clement, Benoit
Garelli, Fabricio
author Rosendo, Juan Luis
author_facet Rosendo, Juan Luis
Clement, Benoit
Garelli, Fabricio
author_role author
author2 Clement, Benoit
Garelli, Fabricio
author2_role author
author
dc.subject.none.fl_str_mv ACTUATOR CONSTRAINTS
AUV
PATH FOLLOWING
ROBOTICS
SIMULATORS
SLIDING MODE
topic ACTUATOR CONSTRAINTS
AUV
PATH FOLLOWING
ROBOTICS
SIMULATORS
SLIDING MODE
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.
Fil: Rosendo, Juan Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentina
Fil: Clement, Benoit. Centre National de la Recherche Scientifique; Francia. Laboratoire Des Sciences Et Techniques de L'information, de la Communication Et de la Connaissance; Francia
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales. Universidad Nacional de La Plata. Instituto de Investigaciones en Electrónica, Control y Procesamiento de Señales; Argentina
description This work presents a dynamic model for an autonomous underwater vehicle (AUV), a validation of this model together with the simulator obtained from its application and an implementation of sliding mode reference conditioning (SMRC). This last technique is proposed in order to follow a path at maximum speed with bounded errors in a dynamical framework, taking care of the saturation in systems actuators, resulting in an improvement of the path tracking time.
publishDate 2016
dc.date.none.fl_str_mv 2016-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/140720
Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio; Sliding mode reference conditioning for path following applied to an AUV; International Federation of Automatic Control; IFAC-PapersOnLine; 49; 23; 10-2016; 8-13
2405-8963
CONICET Digital
CONICET
url http://hdl.handle.net/11336/140720
identifier_str_mv Rosendo, Juan Luis; Clement, Benoit; Garelli, Fabricio; Sliding mode reference conditioning for path following applied to an AUV; International Federation of Automatic Control; IFAC-PapersOnLine; 49; 23; 10-2016; 8-13
2405-8963
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://linkinghub.elsevier.com/retrieve/pii/S2405896316319012
info:eu-repo/semantics/altIdentifier/doi/10.1016/j.ifacol.2016.10.314
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv International Federation of Automatic Control
publisher.none.fl_str_mv International Federation of Automatic Control
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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