Tatuí underwater vehicle control using variable structure

Abstract

Designing control laws for unmanned underwater vehicles presents extra difficulties, mostly associated with differences between the nominal dynamic model and the physical plant. These differences exist mainly because of the existence of non-modeled dynamics and also the model parameters difficult to be identified. Therefore, it is essential that the control law, designed to be deployed in practice, has characteristics of strength enabling him to maintain the performance and stability. In this sense, control the structure variable is known suitable for systems with parametric uncertainties. This paper describes the kinematic and dynamic model of underwater vehicles. It also presents the development of an automatic controller position. This control is necessary in a position where you want to take the vehicle to a certain position and keep it there while performing some task. After the theoretical development, simulations are presented with the ROV (Tatuí), where it was found that the surface integral variable structure showed the best behavior.