标题：Sliding mode reference conditioning for path following applied to an AUV. * * This research is partially supported by EIFFEL scholarship from France Government, by CONICET (PIP0361 and 0237), MIN-CYT(PICT2394) and UNLP(I164), Argentina.
摘要：Abstract: 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.
