Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

2015 ◽  
Vol 88 (10) ◽  
pp. 2055-2065 ◽  
Author(s):  
Minsung Kim ◽  
Hangil Joe ◽  
Jinwhan Kim ◽  
Son-cheol Yu
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Sliding Mode Controller ◽  
Environmental Disturbances ◽  
Integral Sliding Mode

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

scholarly journals Autonomous Underwater Vehicle Robust Path Tracking: Auto-Adjustable Gain High Order Sliding Mode Controller

2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Path Tracking ◽  
High Order ◽  
Sliding Mode Controller

scholarly journals Implementation of Sliding Mode Observer Based Reconfiguration in an Autonomous Underwater Vehicle

10.14311/730 ◽  
2005 ◽  
Vol 45 (4) ◽  
Author(s):  
A. J. Mitchell ◽  
E. W. McGookin ◽  
D. J. Murray-Smith
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Complete Loss ◽  
Sliding Mode Observer ◽  
Sliding Mode Controller ◽  
Sensor Faults ◽  
State Information ◽  
Sensor Failures ◽  
Sensor Package

This paper looks at the implementation of a Sliding Mode Observer (SMO) based Reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicle (AUV). In this paper the reconfigurability aspects are considered for the heading controller. Simulation responses are used to illustrate that the Sliding Mode Observer is able to give state information to the controller when there is a fault in the AUV’s sensor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system. 

scholarly journals Depth Control of Autonomous Underwater Vehicle Using Discrete Time Sliding Mode Controller

2019 ◽  
Vol 6 (5B) ◽  
pp. 96-102 ◽  
Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A.Jalil
Keyword(s):  
Discrete Time ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Sliding Mode Controller ◽  
Depth Control

scholarly journals Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Zool H. Ismail ◽  
Vina W. E. Putranti
Keyword(s):  
Energy Demand ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Fast Response ◽  
Second Order ◽  
Computational Time ◽  
Sliding Mode Controller ◽  
Loop Control ◽  
Chattering Effect

The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV) is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC), gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC) with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

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