Non-singular terminal sliding mode control for robust trajectory tracking control of an autonomous underwater vehicle

Londhe, P. S.; Dhadekar, Dinesh D.; Patre, B. M.; Waghmare, L. M.

doi:10.1109/indiancc.2017.7846515

Cited by 18 publications

(9 citation statements)

References 24 publications

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“…Autonomous underwater vehicle (AUV) is used for autonomous mission under hundreds of thousands of meters depth ranges for tens of hour [1][2][3][4][5][6][7][8]. Owing good working capabilities in deep ocean, AUV has been successfully applied in military, underwater inspection of oil/gas pipelines and risers, ocean forecasting and ecosystem monitoring.…”

Section: Introductionmentioning

confidence: 99%

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Sarif

Ngadengon

Kadir

et al. 2021

IJRA

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Autonomous underwater vehicle (AUV) are underwater robotic devices intended to explore hostiles territories in underwater domain. AUVs research gaining popularity among underwater research community because of its extensive applications and challenges to overcome unpredictable ocean behavior. The aim of this paper is to design discrete time terminal sliding mode control (DTSMC) reaching law-based employed to NPS AUV II purposely to improve the dynamic response of the closed loop system. This is accomplished by introducing a nonlinear component to sliding surface design in which the system state accelerated, and chattering effect is suppressed. The nonlinear component consist of fractional power is to ensure steeper slope of the sliding surface in the vicinity of the equilibrium point which lead to quicker convergence speed. Thus, the chattering effect in the control action suppressed as the convergence of the system state accelerated. The stability of the control system is proven by using Sarpturk analysis and the performance of the DTSMC is demonstrated through simulation study. The performance of DTSMC is benchmarked with DSMC and PID controller

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Section: Introductionmentioning

confidence: 99%

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Sarif

Ngadengon

Kadir

et al. 2021

IJRA

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“…In [27] is developed a robust control strategy for the lateral motion of underactuated AUV, a TSM controller guarantees the finitetime convergence of the tracking errors to zero. Moreover, a Non-Singular Terminal Sliding Mode (NSTSM) controller was developed in [28] for robust trajectory tracking of an AUV.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Non-singular Terminal Sliding Mode Control for an Unmanned Underwater Vehicle: Real-time Experiments

Rangel

Manzanilla

Suárez

et al. 2020

Int. J. Control Autom. Syst.

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This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-Singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations.

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“…Numerous corresponding studies have been done to prevent the singularity problem by non-singular terminal sliding mode control (NTSMC). 38 –40…”

Section: Introductionmentioning

confidence: 99%

“…Numerous corresponding studies have been done to prevent the singularity problem by non-singular terminal sliding mode control (NTSMC). [38][39][40] The main contribution of this article is to propose a novel NTSMC scheme for the redundantly actuated parallel mechanism system, with a view of achieving an excellent tracking performance in the presence of uncertainties and external disturbances. With consideration of nonlinear and complexity of the parallel mechanism system, NTSMC, by integrating the camera sensor technology, is implemented to improve the tracking performance of the parallel mechanism.…”

Section: Introductionmentioning

confidence: 99%

Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

Zhang

Fang

Zou

2020

International Journal of Advanced Robotic Systems

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In this article, the trajectory tracking control is developed by implementing a non-singular terminal sliding mode control for the redundantly actuated parallel mechanism system. The proposed control scheme could guarantee that the tracking errors converge to zero asymptotically. The problem of singularity with regard to conventional terminal sliding mode control scheme can be eliminated with the presented novel non-singular terminal sliding mode surface as well. The corresponding stability of the proposed control scheme has also been proved theoretically in terms of Lyapunov method. In addition, simulations and experiments are conducted for trajectory tracking to validate the effectiveness of the proposed scheme. The illustrative results demonstrate that the proposed scheme is available to solve the uncertainties and external disturbances with self-tuning in real time. Furthermore, the prominent characteristics of the presented control scheme are quick convergence, high accuracy, and high robustness, which can achieve excellent tracking performance as compared with computed torque control scheme and conventional sliding mode control scheme.

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Non-singular terminal sliding mode control for robust trajectory tracking control of an autonomous underwater vehicle

Cited by 18 publications

References 24 publications

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Adaptive Non-singular Terminal Sliding Mode Control for an Unmanned Underwater Vehicle: Real-time Experiments

Non-singular terminal sliding mode control for redundantly actuated parallel mechanism

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