Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles

In this article, a sliding mode control scheme for the autopilot system of a ship is presented, which also incorporates actuator saturation. Under the designed controller, the actuator doesn't enter its saturation mode. Meanwhile, the stability of the closed-loop system can be guaranteed for the ship with input saturation. Fuzzy logic is used to handle gain to avoid the chattering effect, and it is compared with saturation function. The control system for the mathematical model of a scale replica of an "Esso Osaka" tanker is simulated in time domain for the effectiveness of the controller. The simulation results show that the proposed controller is more efficient as compared to the traditional and saturation function methods.

show abstract

“…Substituting the respective maximum possible yaw rate from equations (20) and (21) into the last two inequalities yields…”

Section: Design Of Sliding Mode Control With Input Saturationmentioning

confidence: 99%

Sliding mode control design of a ship steering autopilot with input saturation

Muhammad

Chen

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…Sliding Mode Control Design with Pole Placement Sliding mode control [5] is a nonlinear discontinuous control method that alters the dynamics of a system by application of a discontinuous control signal that makes the system to "slide" along a sliding surface to attain the system's normal behaviour.…”

Section: Controller Designmentioning

confidence: 99%

Modelling and Control of Autonomous under Water Vehicle using Sliding Mode Controller

Shekar¹,

Rao²,

Rao³

2017

International Journal of Innovative Research in Electrical, Ele

View full text Add to dashboard Cite

This paper deals with the dynamic model and analysis of sliding mode autopilot system for an Autonomous underwater vehicle to control the motion of the AUV in 3D plane. Autonomous underwater vehicles modelling are tedious task due to its nonlinear behaviour and complex nonlinear equations. To simplify, these equations a reduced order decoupled system is considered in each plane and individual control law has been designed for each plane. The designed autopilot has been applied to AUV dynamic model and the simulations results have been presented.

show abstract

“…In fact, as illustrated in [23] the heading angle ψ presents a large steady-state error, due to the fact that the sliding mode steering controller is a nonlinear controller and there is no integrator action like the conventional PID controller to eliminate this error. We observed, from simulations, that this is a problem that affects all the controllers, making them slow compared with the dynamics of the system.…”

Section: Diving Control In This Case the Variables Of Interest Are Thmentioning

confidence: 99%

“…To overcome these problems, according also with [23], we implemented a P I action for each controller that is added at the control action of the main sliding-mode controller. This leads to obtain a more reactive and precise controller with no steady-state error.…”

Section: Diving Control In This Case the Variables Of Interest Are Thmentioning

confidence: 99%

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

Sorbi¹,

Capua²,

Fontaine³

et al. 2012

mar technol soc j

View full text Add to dashboard Cite

Due to its applications in marine research, oceanographic, and undersea exploration, Autonomous Underwater Vehicles (AUVs) and the related control algorithms has been recently under intense investigation. In this work, we address target detection and tracking issues, proposing a control strategy which is able to benefit from the cooperation among robots within the fleet. In particular, we introduce a behavior-based planner for cooperative AUVs, proposing an algorithm able to search and recognize targets, in both static and dynamic scenarios. With no a priori information about the surrounding environment, robots cover an unknown area with the goal of finding objects of interest. When a target is found, the AUVs' goal become to classify it (fixed target) or track it (mobile target), with no information about target trajectory and with the constraint on maintaining the formation. Results demonstrate the good overall performance of the proposed algorithm in both scenarios.

show abstract

Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles

Cited by 7 publications

References 17 publications

Sliding mode control design of a ship steering autopilot with input saturation

Sliding mode control design of a ship steering autopilot with input saturation

Modelling and Control of Autonomous under Water Vehicle using Sliding Mode Controller

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†

Contact Info

Product

Resources

About

Design of Sliding Mode Autopilot with Steady-State Error Elimination for Autonomous Underwater Vehicles

Cited by 7 publications

References 17 publications

Sliding mode control design of a ship steering autopilot with input saturation

Sliding mode control design of a ship steering autopilot with input saturation

Modelling and Control of Autonomous under Water Vehicle using Sliding Mode Controller

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles†

Contact Info

Product

Resources

About

A Behavior-Based Mission Planner for Cooperative Autonomous Underwater Vehicles^†