Depth control of autonomous underwater vehicle using discrete time sliding mode controller

• Main Authors: Sarif, Nira Mawangi, Ngadengon, Rafidah, Abdul Kadir, Herdawatie, A. Jalil, Mohd Hafiz
• Format: Article
• Language: English
• Published: 2019
• Subjects: TC Hydraulic engineering. Ocean engineering
• Online Access: http://eprints.uthm.edu.my/604/1/DNJ9649_58a18510d912af7e9a80439f0bb56334.pdf; http://eprints.uthm.edu.my/604/; https://doi.org/10.13189/ujeee.2019.061613

This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for co...