Glider's roll control based on backstepping

L. Burlion, T. Ahmed-Ali, N. Seube

Research output: Contribution to journalConference articlepeer-review


This paper is devoted to controls and observers design based on backstepping and sliding modes, for non linear systems. This method is applied to the dynamics of an underwater glider that has been developed and operated by ENSIETA. The glider dynamics can be derived from flight dynamics equations. In the framework of this paper, we arc interested by the lateral equation of motion which describes the lateral motion dynamics. First, we design a roll controller. Then, we consider that we don't know the derivative of the roll required by the controller and we show how to construct a sliding mode observer in presence of the controller.

Original languageEnglish (US)
Pages (from-to)161-165
Number of pages5
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number10
StatePublished - Jan 1 2004
Externally publishedYes
Event2004 IFAC Conference on Computer Applications in Marine Systems, CAMS 2004 - Ancona, Italy
Duration: Jul 7 2004Jul 9 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Autonomous vehicles
  • Nonlinear systems
  • Observers
  • Robust control
  • Variable structure control


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