An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles

Bessa, Wallace Moreira; Dutra, Max Suell; Kreuzer, Edwin

doi:10.1016/j.robot.2009.09.001

Cited by 124 publications

(60 citation statements)

References 42 publications

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“…Note thatσ i = ∇σ T iq . Thus, for low speeds or small K values Φ * CS ≈ Φ CS given by (11). Note also that K may take different values for different constraints, if so wished.…”

Section: Redundancy Resolution Schemementioning

confidence: 96%

“…Indeed, many types of sliding-mode controllers have been developed in the last years for robotic systems [8,9,10,11]. Hence, the objective of this paper is to design a supervisory loop [12] based on the mentioned discontinuous field idea and using sliding-mode control theory in order to modify the commanded joint velocities so that the robot fulfills the desired C-space and/or workspace constraints.…”

Section: Introductionmentioning

confidence: 99%

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A supervisory loop approach to fulfill workspace constraints in redundant robots

Gracia

Sala

Garelli

2012

Robotics and Autonomous Systems

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ElsevierGracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60 (1) AbstractAn approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential fieldbased approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.

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“…Note thatσ i = ∇σ T iq . Thus, for low speeds or small K values Φ * CS ≈ Φ CS given by (11). Note also that K may take different values for different constraints, if so wished.…”

Section: Redundancy Resolution Schemementioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

A supervisory loop approach to fulfill workspace constraints in redundant robots

Gracia

Sala

Garelli

2012

Robotics and Autonomous Systems

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“…The diving plane mode of an AUV system suffers from high nonlinearity, states coupling and uncertain disturbances [1][2][3][4], and several approved control algorithms [5][6][7][8][9] have been suggested and examined for AUV depth control. One popular control technology implemented for underwater vehicles [10], the SMC (Sliding Mode Control) algorithm, is insensitive to external disturbances and robust to parameter variations [11], e.g., an SMC based on a back-stepping algorithm is introduced to improve the robustness to external disturbances [14], and fuzzy adaptive controllers pertaining to SMC are used to weaken the scope of chattering on the sliding surface of the SMC [15]. Additionally, some other intelligent control algorithms are introduced.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Sliding Mode Control Based on Multi-Model Switching Laws for the Depth Control of an Autonomous Underwater Vehicle

Zhou

Liu

et al. 2015

International Journal of Advanced Robotic Systems

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This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL), for the control of the depth of the studied Autonomous Underwater Vehicle (AUV) system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMC-MMSL algorithm control.

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“…However, the underwater environment (e.g., high pressure) makes underwater resource exploration quite challenging, especially in deep sea. Nowadays, with the development of marine technology, a variety of underwater vehicles have been developed and are playing an important role in underwater resource exploration, inspection and operation (Li, et al, 2009;Bessa, Dutra and kreuzer, 2010;Fang, Hou and Luo, 2007).…”

Section: Introductionmentioning

confidence: 99%

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

Huang¹,

Ye²,

Leng³

et al. 2012

International Journal of Naval Architecture and Ocean Engineeri

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Underwater vehicles play a very important role in underwater engineering. Water-tight junction box (WJB) is one of the key components in underwater vehicle. This paper puts forward a pressure self-adaptive water-tight junction box (PSAWJB) which improves the reliability of the WJB significantly by solving the sealing and pressure problems in conventional WJB design. By redundancy design method, the pressure self-adaptive equalizer (PSAE) is designed in such a way that it consists of a piston pressure-adaptive compensator (PPAC) and a titanium film pressureadaptive compensator (TFPAC). According to hydro-mechanical simulations, the operating volume of the PSAE is morethan or equal to 11.6 % of the volume of WJB liquid system. Furthermore, the required operating volume of the PSAE also increases as the gas content of oil, hydrostatic pressure or temperature difference increases. The reliability of the PSAWJB is proved by hyperbaric chamber tests.

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An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles

Cited by 124 publications

References 42 publications

A supervisory loop approach to fulfill workspace constraints in redundant robots

A supervisory loop approach to fulfill workspace constraints in redundant robots

Dynamic Sliding Mode Control Based on Multi-Model Switching Laws for the Depth Control of an Autonomous Underwater Vehicle

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

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