Disturbance Observer-Based Fuzzy Adapted S-Surface Controller for Spatial Trajectory Tracking of Autonomous Underwater Vehicle

Lakhekar, G. V.; Waghmare, L. M.; Roy, Rupam Gupta

doi:10.1109/tiv.2019.2938082

Cited by 57 publications

(17 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to the stator resistance of PMSM varies with temperature, robustness and precise multi-parameter identification is necessary for low speed sensorless driver [13], [14]. Therefore, some multi-parameter identification technologies such as extended Kalman filter (EKF) scheme [15], [16], recursive least squares (RLS) scheme [17], [18], and model reference adaptive system (MRAS) scheme [19] have been proposed. In [16], the EKF scheme gave appropriate experimental result in parameter identification.…”

Section: Introductionmentioning

confidence: 99%

Switched PI Control Based MRAS for Sensorless Control of PMSM Drives Using Fuzzy-Logic-Controller

Liu

Nie

Wei

et al. 2022

IEEE Open J. Power Electron.

View full text Add to dashboard Cite

With the use of sensorless control strategy, mechanical position sensors can be removed from the gearbox, so as to decrease the maintenance costs and enhance the system robustness. In this paper, a switching PI control based model reference adaptive system (MRAS) observer using Fuzzy-Logic-Controller (FLC) is introduced for sensorless control of permanent magnet synchronous motor (PMSM) drives. The main work and innovation of this paper include: 1) A disturbance observer based voltage compensation method is proposed to solve the problems of voltage distortion in voltage source inverter (VSI) fed PMSM systems. 2) A double closed-loop FLC is designed for speed and current control. The response performance of speed regulation and the accuracy of the command voltage are improved, and the difficulty of manual adjustment of control parameters is avoided. 3) A sensorless control strategy of a switching PI control based MRAS observer is proposed for stator resistance tracking. By setting different thresholds, the proposed MRAS observer can choose the appropriate PI adaptive mechanism based on the amplitude of the current error variable, which can improve the accuracy of resistance estimation and improve the dynamic performance of sensorless control. 4) The experimental results are given to verify the availability of the proposed scheme.

show abstract

Section: Introductionmentioning

confidence: 99%

Switched PI Control Based MRAS for Sensorless Control of PMSM Drives Using Fuzzy-Logic-Controller

Liu

Nie

Wei

et al. 2022

IEEE Open J. Power Electron.

View full text Add to dashboard Cite

show abstract

“…Particularly, the formation control as the fundamental problem in multiple vehicle coordination has been widely studied [8]. However, due to the nonlinear and uncertain nature of AUV's characteristics as well as the complexity of underwater situations, steering a fleet of unmanned marine vehicles to keep a desired formation configuration precisely may be in front of many challenges [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control

Yan,

Xu,

Yang

2022

Preprint

View full text Add to dashboard Cite

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is proposed in this paper. First, the conventional sliding mode controller (SMC) is presented, and the consensus problem is addressed on the basis of graph theory. Next, to tackle the high frequency chattering issue in SMC scheme and meanwhile improve the robustness to the noises, a bioinspired approach is introduced, in which a neural dynamic model is employed to replace the nonlinear sign or saturation function in the synthesis of conventional sliding mode controllers. Furthermore, the inputto-state stability of the resulting closed-loop system is proved in the presence of bounded lumped disturbance by the Lyapunov stability theory. Finally, simulation experiments are conducted to demonstrate the effectiveness of the proposed distributed formation control protocol.

show abstract

“…The focus in this paper is on the robust control of an AUV with finite-time convergence. Different approaches have been proposed in the literatures dealing with the control of AUVs including adaptive control, [2][3][4][5][6] fuzzy control, 7,8 back-stepping control, 9,10 model predictive control, 11,12 and finite-time extended state observer based sliding-mode control. 13 In the following paragraphs, some representative research findings on the control of AUVs will be discussed.…”

Section: Introductionmentioning

confidence: 99%

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Karkoub

2021

Advances in Mechanical Engineering

View full text Add to dashboard Cite

The aim of this study is to achieve the trajectory-tracking control of an autonomous underwater vehicle (AUV) in the presence of random system uncertainties and external current disturbances. A comprehensive model of an AUV is developed based on its kinematic and dynamic models. By means of appropriate transformations, a new system dynamic equation with arguments of positions and orientations is obtained for the controller design. Here, a proposed finite-time robust tracking control (FTRTC) based on a nonlinear sliding surface constructed using the tracking error which leads not only to trajectory-tracking of the AUV system with a finite-time convergence, but also a high level of robust performance. The stability of the overall system is assured via the Lyapunov stability criteria. Computer simulations conducted using the developed controller demonstrates the feasibility and effectiveness of the proposed FTRTC. Moreover, the simulation results showed that the proposed control scheme resulted in a high level of robustness of the closed-loop control system.

show abstract

Disturbance Observer-Based Fuzzy Adapted S-Surface Controller for Spatial Trajectory Tracking of Autonomous Underwater Vehicle

Cited by 57 publications

References 28 publications

Switched PI Control Based MRAS for Sensorless Control of PMSM Drives Using Fuzzy-Logic-Controller

Switched PI Control Based MRAS for Sensorless Control of PMSM Drives Using Fuzzy-Logic-Controller

Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control

Finite-time robust tracking control of an autonomous underwater vehicle in the presence of uncertainties and external current disturbances

Contact Info

Product

Resources

About