A novel adaptive sliding mode controller design for tracking problem of an AUV in the horizontal plane

Ramezani-al, Mohammad Reza; Sereshki, Zahra Tavanaei

doi:10.1007/s40435-018-0457-4

Cited by 16 publications

(9 citation statements)

References 19 publications

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“…Limited literature can be found related to control methods with finite-time convergence for AUV trajectory tracking. Ramezani-al et al [20] proposed an SMC with an adaptive gain to eliminate the effects of external chattering and noise vulnerability. In numerical simulations, the proposed controller drives the vehicle to the desired trajectory in a limited time.…”

Section: Related Workmentioning

confidence: 99%

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

González-García

Gómez-Espinosa

García-Valdovinos

et al. 2022

Sensors

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Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers strong robustness and fast convergence compared with asymptotic or exponential solutions. Those finite-time controllers do not permit the users to predefine the convergence time, which can be useful for a more efficient use of the robot’s energy. This paper presents the experimental validation of a model-free high-order Sliding Mode Controller (SMC) with finite-time convergence in a predefined time. The convergence time is introduced by the simple change of a time-base parameter. The aim is to validate the controller so it can be implemented for cooperative missions where the communication is limited or null. Results showed that the proposed controller can drive the robot to the desired depth and heading trajectories in the predefined time for all the cases, reducing the error by up to 75% and 41% when compared with a PID and the same SMC with asymptotic convergence. The energy consumption was reduced 35% and 50% when compared with those same controllers.

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Section: Related Workmentioning

confidence: 99%

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

González-García

Gómez-Espinosa

García-Valdovinos

et al. 2022

Sensors

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“…The UUV of simulation experiment in this paper is selected from the simulation experiment objects of references [2] and [14]. The model parameters are as follows.…”

Section: The Simulation Experiments Analysis Of Uuv Target Space Moving Target Trajectory Trackingmentioning

confidence: 99%

“…The simulation results are satisfactory. In reference [14], a sliding mode controller with adaptive gain is proposed for the horizontal target trajectory tracking sliding mode control of actuated UUV. It is a kind of sliding mode controller with adaptive gain.…”

Section: Introductionmentioning

confidence: 99%

Double-Loop Structure Integral Sliding Mode Control for UUV Trajectory Tracking

Guo

Zhang

et al. 2019

IEEE Access

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To solve the problem of trajectory tracking control for the underactuated unmanned underwater vehicle (UUV) in external current disturbance, a back-stepping sliding mode control method with doubleloop structure is proposed in this paper. The outer-loop controller constructs the position error sliding surface through desired position error, obtains the kinematics control law by combining with power reaching law, and gets the error of virtual velocity after completing the design of trajectory tracking kinematics controller. The inner-loop controller constructs the sliding surface of longitudinal, horizontal, and vertical velocity error, respectively, with the help of the UUV speed error. Also, the trajectory tracking dynamic controller is designed by combining with the exponential reaching law, where the control moment is almost chatteringfree. The stability of the double-loop control system is proved by combining with the Lyapunov stability theory. Finally, the simulation experiments verify the high effectiveness of the algorithm.INDEX TERMS UUV, trajectory tracking, integral sliding mode control, double-loop control structure.

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“…The design of controllers based on sliding modes (SM) is characterized by its applicability to nonlinear systems and by its robustness. Extensive studies have been carried out in this area based on classical methods like state-feedback sliding surface design, optimization-based designs or even SM methods that combine adaptive control features [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

A global optimization approach for sliding mode tuning and existence maps generation

Rosendo

Monnet

Battista

et al. 2020

Int. J. Dynam. Control

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In this work, global optimization techniques based on interval arithmetic are proposed to analyze and synthesize sliding mode (SM) controllers. The proposed methodology allows generating a series of maps, called subpavings, which put in evidence the required relationships among tuning parameters, disturbances and control amplitude to fulfill the sufficient condition of SM in a guaranteed way. The a priori knowledge of the control power necessary to guarantee SM behavior of nonlinear systems despite parameter uncertainties and external disturbances is an advantage of this proposal compared to traditional tuning methods, which usually fall into over-sizing solutions. Although the methodology is developed in the context of conventional first-order SM controllers, it could be extended to any other SM design approach.

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A novel adaptive sliding mode controller design for tracking problem of an AUV in the horizontal plane

Cited by 16 publications

References 19 publications

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Double-Loop Structure Integral Sliding Mode Control for UUV Trajectory Tracking

A global optimization approach for sliding mode tuning and existence maps generation

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