Nonsingular Fast Terminal Sliding Mode Control for an Autonomous Underwater Vehicle

Suárez, Angel; Rangel, Miguel Angel Garcia; Magallanes, Adrian Manzanilla; Leal, Rogelio Lozano; Cruz, Sergio Salazar; Palacios, Filiberto Munoz

doi:10.1109/iceee.2019.8884505

Cited by 1 publication

(1 citation statement)

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“…Furthermore, it defines nonsingular terminal sliding mode control (NTSMC) to overcome this singularity problem. For the faster convergence of state errors to the origin, a nonsingular fast terminal sliding mode control (NFTSMC) technique is proposed by Zamora Suarez et al 22 while making assurance of finite time convergence. Patre et al 23 employed fuzzy-based NFTSMC for AUV with a manipulator to overcome the drawbacks of asymptotic convergence and chattering.…”

Section: Introductionmentioning

confidence: 99%

Adaptive nonsingular fast terminal sliding mode control for the tracking control of underactuated autonomous underwater vehicles

Bharti,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposes an adaptive nonsingular fast terminal sliding mode control scheme with piecewise fast multi-power reaching law for tracking control of underactuated autonomous underwater vehicles under model uncertainties, ocean disturbances, and measurement noise. This control approach enhances the robustness and guarantees faster convergence of state error to zero in finite time while reducing the chattering effect. Utilizing the benefit of adaption law prevents overestimating control parameters, and it eliminates the need for the upper bound value of disturbances. The overall stability of the system is analyzed using the Lyapunov criterion. The results of the proposed approach are compared with adaptive nonsingular terminal sliding mode control and adaptive sliding mode control. The performance of the proposed control approach is evaluated by using the performance indices root mean square error and chattering indicator. The simulation results confirm the efficiency of the proposed approach.

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Section: Introductionmentioning

confidence: 99%