Kerestecioğlu, FezaDemirci, UfukKerestecioğlu, Feza2019-06-272019-06-272004150029-80180029-8018https://hdl.handle.net/20.500.12469/149https://doi.org/10.1016/j.oceaneng.2003.07.010In this paper a controller design method for underwater vehicles is presented which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance distribution information can be obtained and used to update the corrective gain vector of the sliding-mode controller. This increases the robustness of the controller and hence keeps the system performance within acceptable limits. Proposed method is validated with simulations on a submarine model. (C) 2003 Published by Elsevier Ltd.eninfo:eu-repo/semantics/openAccessControl re-configurationAutonomous systemsSliding-mode controlDisturbance rejectionUnderwater vehicle autopilotsArticle166916821331WOS:00022366800000510.1016/j.oceaneng.2003.07.0102-s2.0-3242684530Q1Q1