Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control

Elmokadem, Taha; Zribi, Mohamed

doi:10.1007/s10846-018-0830-8

Cited by 42 publications

(20 citation statements)

References 53 publications

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“…Therefore, ROUV with perfect design and controller is required for the completion of underwater scenario. 17 Moreover, equipment and sensors used in ROUV impact the dynamic behavior of the system. 18 Some applications of ROUV requires precise position and navigation capabilities.…”

Section: Introductionmentioning

confidence: 99%

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A review of different designs and control models of remotely operated underwater vehicle

Wang

Ali

2020

Measurement and Control

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This article reviews remotely operated underwater vehicle (ROUV) and its different types focusing on the control systems. This study offers a brief introduction of unmanned underwater vehicle (UUV) together with ROUV. Underwater robots are designed to work as an alternative to humans because of a difficult and hazardous underwater environment. The applications and demand of marine robots are increasing with the passage of time. There are several research articles and publications available on these topics but, a complete review of old and recent research about this technology is still hard to find. This article also assesses some recently published research papers on underwater systems. It presents the comparison of different control systems and designs of underwater vehicles. There have been major developments in marine technology depending on the needs, applications and cost of different missions. Scientists design many remotely operated vehicles based on the educational or industrial purposes. This article is presented in order to help and assist the future researchers as a massive review of the field of remotely operated underwater vehicles and their possible future developments are presented.

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Section: Introductionmentioning

confidence: 99%

“…Therefore, ROUV with perfect design and controller is required for the completion of underwater scenario. 17…”

Section: Introductionmentioning

confidence: 99%

A review of different designs and control models of remotely operated underwater vehicle

Wang

Ali

2020

Measurement and Control

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“…The main drawback of SMC control is chattering phenomenon which leads to high vibration in the system. This problem can be solved with quasi-sliding mode control (QSMC) where a smooth sigmoid function is used to replace a non-smooth sign function found in a SMC controller [20]. Another effective solution is higher order sliding mode controller like the second order sliding mode controller (SOSMC) [21].…”

Section: Introductionmentioning

confidence: 99%

Stability and Direction Control of a Two-Wheeled Robotic Wheelchair Through a Movable Mechanism

2020

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A two-wheeled robotic wheelchair (TWRW) has a better manoeuvrability than a conventional four-wheeled wheelchair. However, it is not statically stable near the upright posture or a posture desired by the rider, and an active stability controller is required. Stability control becomes more challenging when a TWRW is also required to move in a desired direction. To rely on wheels' motions to achieve both stability and direction control tend to impose a large burden on the wheels' driving motors or other types of actuators in terms of their driving torque and power consumption. Various disturbances in the system also affect the performance of the controller. To solve these problems, this paper presents a stability and direction controller based on the motion of a pendulum-like movable mechanism added to assist the wheels to produce control actions. The dynamic model of the TWRW is established through the Euler-Lagrange formulation in which the disturbances caused by model uncertainties and rider's motion are considered. A robust second-order sliding mode control is then developed for the stability and the direction control of a TWRW. Simulation results are presented to validate the effectiveness of the proposed method. INDEX TERMS Two-wheeled robotic wheelchair, stability control, direction control, added movable mechanism, second-order sliding mode control.

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“…However, it suffers chatterings in the closed-loop system states. This problem can be solved by quasi-sliding mode control (QSMC) where the non-smooth sign function used in SMC is replaced with a smooth sigmoid function to govern the switching behavior in the controller [24]. For a system whose number of inputs is less than the number of outputs (underactuated system), hierarchical sliding mode control (HSMC) can be used.…”

Section: Introductionmentioning

confidence: 99%

An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair

2020

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Conventional robotic wheelchairs (three or four-wheeled) which are statically stable are poor in mobility. Though a two-wheeled robotic wheelchair has better mobility, it is not statically stable and needs an active stability controller. In addition to mobility and stability, velocity control is also important for the operation of a wheelchair. Conventional stability and velocity controllers rely on the motion of the wheels and require high driving torque and power. In this paper, this problem is tackled by adding a compact pendulum-like movable mechanism whose main function is for stability control. Its motion and those of the wheels are controlled through a quasi-sliding mode control approach to achieve a simultaneous velocity and stability control with much less driving torque and power. Simulation results are presented to show the effectiveness of the proposed controller.

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Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control

Cited by 42 publications

References 53 publications

A review of different designs and control models of remotely operated underwater vehicle

A review of different designs and control models of remotely operated underwater vehicle

Stability and Direction Control of a Two-Wheeled Robotic Wheelchair Through a Movable Mechanism

An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair

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