Steering autopilot applied to a autonomous underwater vehicle / Piloto automático de direção aplicado a um veículo subaquático autônomo


  • Emerson Coelho Mendonça Brazilian Journals Publicações de Periódicos, São José dos Pinhais, Paraná



AUV, autopilot, guidance, sliding mode control.


In this paper, a sliding mode control is used for the autopilot steering control applied to a torpedo shape AUV based on a Darpa Suboff scale model. The implementation of this project will allow the execution of maneuvers in the horizontal plane, which is the main contribution of this work. The SMC technique was chosen because of its robustness to parametric uncertainties associated with unmodeled dynamics and rejection of external disturbances. To avoid the chattering effect the use of the hyperbolic tangent function with adoption of a ? boundary layer was used. A dynamic model with 3 degrees of freedom was developed and used in numerical simulations. The results described a good tracking performance of the preprogrammed trajectories, even in the presence of disturbances associated with the vehicle's operating environment.


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How to Cite

Mendonça, E. C. (2020). Steering autopilot applied to a autonomous underwater vehicle / Piloto automático de direção aplicado a um veículo subaquático autônomo. Brazilian Journal of Development, 6(8), 54694–54707.



Original Papers