TY - GEN
T1 - Robust dynamic inversion based on sliding mode control for autonomous underwater vehicles
AU - Yang, Inseok
AU - Byun, Sungil
AU - Seo, Byungseok
AU - Lee, Dongik
AU - Han, Dong Seog
PY - 2013
Y1 - 2013
N2 - In this paper, the robust dynamic inversion (RDI) control strategy based on sliding mode control (SMC) is proposed. Dynamic inversion (DI) is a control method that forces the system states to track the user-defined desired dynamics by cancelling the inherent dynamics. However, achieving a perfect cancellation of the original dynamics is impossible in real applications due to uncertainties, such as disturbances, noises, model uncertainties etc. So robustness issues must be considered in designing DI controller. Different from the previous works of achieving robustness in the DI controller, the proposed RDI controller is designed based on SMC which is inherently robust. Numerical simulations with application to an autonomous underwater vehicle (AUV) demonstrate the effectiveness of the proposed method.
AB - In this paper, the robust dynamic inversion (RDI) control strategy based on sliding mode control (SMC) is proposed. Dynamic inversion (DI) is a control method that forces the system states to track the user-defined desired dynamics by cancelling the inherent dynamics. However, achieving a perfect cancellation of the original dynamics is impossible in real applications due to uncertainties, such as disturbances, noises, model uncertainties etc. So robustness issues must be considered in designing DI controller. Different from the previous works of achieving robustness in the DI controller, the proposed RDI controller is designed based on SMC which is inherently robust. Numerical simulations with application to an autonomous underwater vehicle (AUV) demonstrate the effectiveness of the proposed method.
KW - Dynamic inversion
KW - Robust dynamic inversion
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=84885610954&partnerID=8YFLogxK
U2 - 10.3182/20130626-3-AU-2035.00074
DO - 10.3182/20130626-3-AU-2035.00074
M3 - Conference contribution
AN - SCOPUS:84885610954
SN - 9783902823366
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 79
EP - 84
BT - 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013 - Proceedings
PB - IFAC Secretariat
T2 - 8th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2013
Y2 - 26 June 2013 through 28 June 2013
ER -