A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control

Dyda, Alexander A.; Оськин, Д. А.; Longhi, Sauro; Monteriù, Andrea

doi:10.1016/j.ifacol.2016.10.360

Cited by 3 publications

(17 citation statements)

References 15 publications

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“…The mathematical model of a nonlinear 3-DOF ROV has been presented in Corradini et al (2010), Dyda et al (2016) and Fossen (2002). This model (6) is given as follows…”

Section: The Rov Nonlinear Modelmentioning

confidence: 99%

“…It is worthwhile to mention that the chattering problem is likely to exist in the control signals of RPSMC and the control scheme given in (Dyda et al 2016) because of using signum function in their control laws (given by (24) and (35), respectively). However, this unwanted phenomenon is expected to ease in the control signals of the CFRPSMC, FSMC, and TSMC by using the integral of signum function in their control laws (given by (14), (26) and (28), respectively).…”

Section: Remarkmentioning

confidence: 99%

“…To overcome the first deficiency, SMC method has been used to deal with uncertainties of ROVs (Pezeshki et al 2016;Dyda et al 2016;Chin and Lin 2018;Khalid et al 2019). SMC has been known as an effective control method for nonlinear uncertain systems because of its fast response, robustness against uncertainties, unresponsiveness to external disturbances and its easy implementation (Mobayen et al 2017).…”

Section: Introductionmentioning

confidence: 99%

“…The SMC scheme often causes the unwanted chattering phenomenon due to its discontinuous nature of the control law in the existing studies using SMC method (Eaton et al 2009;Yousefi and Binazadeh 2018;Shafiei and Binazadeh 2013;Dyda et al 2016), TSMC method (Feng et al 2002;Yu and Zhihong 2002;Mobayen 2015), fixed-time SMC (FSMC) method (Zuo 2014) and PSMC method (Sánchez-Torres et al 2018a). The inherent chattering of conventional SMC needs ample energy for high efficiency, and it might damage the system's physical parts (Castillo-García et al 2017).…”

Section: Introductionmentioning

confidence: 99%

“…It should be noted that the ideas behind designing FSMC and TSMC schemes (which are presented and simulated in this paper) are similar to the ones given in Zuo (2014) and Zuo and Tie (2016), respectively. Additionally, the proposed CFRPSMC scheme is compared with a relevant study for the 3-DOF ROV given in Dyda et al (2016) to verify the validity of the proposed scheme. For a thorough comparison, three well-known performance criteria are used.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Hosseinabadi

Abadi

Mekhilef

et al. 2020

J Control Autom Electr Syst

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This study investigates a new chattering-free robust predefined-time sliding mode control (CFRPSMC) scheme for the trajectory tracking control problem of a three-degree-of-freedom (3-DOF) remotely operated vehicle (ROV) in the presence of matched uncertainties. The advanced notion of predefined-time stability is used to provide a maximum convergence time as desired that can be set during the control design and independently of the initial conditions. Based on defining a new form of sliding surfaces, a new control law is designed to ease the undesirable chattering phenomenon without damaging the robustness properties and tracking precision. The proposed control scheme can not only solve the predefined-time tracking controller design problem, but also provide the robustness to various uncertainties. The Lyapunov stability theory is used to establish the stability analysis of the closed-loop system in both the reaching phase and the sliding phase. The performance of the proposed CFRPSMC scheme is evaluated for the 3-DOF ROV through two comparative simulation cases using Simulink/MATLAB. The comparative simulation results and analytical comparisons demonstrate the efficacy and superiority of the proposed method compared with other relevant conventional methods.

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“…The mathematical model of a nonlinear 3-DOF ROV has been presented in Corradini et al (2010), Dyda et al (2016) and Fossen (2002). This model (6) is given as follows…”

Section: The Rov Nonlinear Modelmentioning

confidence: 99%

Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Hosseinabadi

Abadi

Mekhilef

et al. 2020

J Control Autom Electr Syst

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show abstract

A Variable Structure System Control and its Application in Underwater Vehicles

et al. 2017

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Adaptive Finite‐Time Sliding Mode Backstepping Controller for Double‐Integrator Systems with Mismatched Uncertainties and External Disturbances

Hosseinabadi

Abadi

Pota

et al. 2022

Discrete Dynamics in Nature and Society

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In this paper, a novel adaptive finite-time sliding mode backstepping (AFSMBS) control scheme is suggested to control a type of high-order double-integrator systems with mismatched disturbances and uncertainties. A robust sliding mode backstepping control method, adaptive control method, and finite-time stability notion are incorporated to provide a better tracking performance over applying them individually and to use their benefits simultaneously. The concept of a sliding mode is used to define a new form of a backstepping controller. The adaptive control method is utilized to adaptively estimate the upper bounds of the disturbances and uncertainties and the estimated data are used in the control low. The notion of the finite-time stability is incorporated with the suggested control scheme to ensure the system’s convergence within a finite time. The stability proof is obtained for the closed-loop system in a finite time utilizing the Lyapunov stability theorem. Simulation results are obtained for an example of a remotely operated vehicle (ROV) with three degrees of freedom (3-DOF) to demonstrate the efficacy of the suggested control approach.

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A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control

Cited by 3 publications

References 15 publications

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle

A Variable Structure System Control and its Application in Underwater Vehicles

Adaptive Finite‐Time Sliding Mode Backstepping Controller for Double‐Integrator Systems with Mismatched Uncertainties and External Disturbances

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