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

Li, Juan; Guo, Hao; Zhang, Honghan; Yan, Zheping

doi:10.1109/access.2019.2925570

Cited by 18 publications

(3 citation statements)

References 17 publications

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“…Due to the lack of a control center, distributed control systems are highly flexible and can dynamically change the structure of the control network. Distributed methods mainly consist of leader-following [6][7][8], virtual structure [9], artificial potential field [10] and consensus control [11,12].…”

Section: Introductionmentioning

confidence: 99%

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Wang,

Yuan

et al. 2024

JMSE

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The complex underwater environment poses significant challenges for unmanned underwater vehicles (UUVs), particularly in terms of communication constraints and the need for precise cooperative obstacle avoidance and trajectory tracking. Addressing these challenges solely through position information is crucial in this field. This study explores the intricate task of managing a group of UUVs as they navigate obstacles and follow a given trajectory, all based on position information. A new dynamic interactive topology framework utilizing sonar technology has been developed for the UUVs. This framework not only provides position information for the UUV swarm but also for the surrounding obstacles, enhancing situational awareness. Additionally, a bio-inspired cooperative control strategy designed for UUV swarms utilizing sonar interaction topology is introduced. This innovative method eliminates the need for velocity data from neighboring UUVs, instead relying solely on position information to achieve swarm cooperative control, obstacle avoidance, and trajectory adherence. The effectiveness of this method is validated through extensive simulations. The results show that the proposed method demonstrates improved sensitivity in obstacle detection, enabling faster trajectory tracking while maintaining a safer distance compared to traditional methods. Ultimately, this innovative strategy not only enhances operational efficiency but also enhances safety measures in UUV swarm operations.

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Section: Introductionmentioning

confidence: 99%

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Wang,

Yuan

et al. 2024

JMSE

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“…Chattering was eliminated without reducing the tracking accuracy. Li et al [ 19 ] proposed a backstepping SMC. The controller showed a faster response and shorter adjustment time but with a more significant overshoot.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Controller for Coordinated Navigation of Unmanned Underwater Vehicles in a Collaborative Manipulation Task

González-García

Narcizo-Nuci

Gómez-Espinosa

et al. 2022

Sensors

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Unmanned underwater vehicles perform inspection and maintenance tasks in complex and changing environments. Some of these tasks require synchronous navigation of multiple vehicles, which is challenging. This paper proposes a synchronous navigation scheme for two BlueROV2 underwater vehicles for a coordinated multi-vehicle task. In the proposed scheme, the vehicles perform the collaborative task of grasping, transporting, and releasing an object. In this scheme, no vehicle-to-vehicle communication is required. A model-free second-order sliding mode controller with finite-time convergence is used to accomplish this task. The controller’s convergence time is user-defined and does not depend on the physical or hydrodynamic parameters of the vehicle, unlike the other finite-time controllers found in the literature. Simulation experiments were conducted to verify the controller’s performance, including high ocean currents as external disturbances. Comparisons were made with two state-of-the-art controllers with finite-time convergence. The results showed that the proposed controller achieved the best results, as the user-defined convergence time was achieved for both vehicles and the collaborative task was completed, no ripples, deviations, or oscillations were observed, and no chattering occurred. The results proved the robustness of the controller in the presence of high ocean currents without the need to readjust the parameters.

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“…Then, the backstepping method was used to design the actual control law. Li et al [12] extended Repoulias' method to 3D space and designed an integral sliding mode controller to solve the 3D trajectory control problem. Jiang et al [13] designed a Lyapunov function to stabilize the tracking error and proved that the derivative of the Lyapunov function is negative definite.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking of a Novel Underactuated AUV via Nonsingular Integral Terminal Sliding Mode Control

Peng

et al. 2021

IEEE Access

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This paper addresses the 3D trajectory tracking problem of a novel underactuated underwater vehicle with 4 propellers. A 5-DOF kinematic and dynamic model of the quadrotor underwater vehicle (QUV) is established based on the underwater vehicle and quadrotor unmanned aerial vehicle movement mechanism. A double-loop control structure is then developed. By constructing a Lyapunov function for the outer-loop controller, a 5-DOF trajectory tracking error equation and a velocity virtual control law are obtained. The inner-loop controller is built based on nonsingular integral terminal sliding mode control (NITSMC). Finally, the effectiveness and robustness of our control algorithm are demonstrated through numerical simulations. In particular, given a smooth, second-order derivable 3D reference trajectory, the QUV can quickly track the trajectory and satisfactorily converges in the neighborhood of the expected value in a finite time via NTISMC, which verifies its superiority compared with the other popular backstepping control (BSC) method.INDEX TERMS AUV, trajectory tracking control, nonsingular integral terminal sliding mode control.

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

Cited by 18 publications

References 17 publications

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Bio-Inspired Cooperative Control Scheme of Obstacle Avoidance for UUV Swarm

Finite-Time Controller for Coordinated Navigation of Unmanned Underwater Vehicles in a Collaborative Manipulation Task

Trajectory Tracking of a Novel Underactuated AUV via Nonsingular Integral Terminal Sliding Mode Control

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