Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

Ismail, Zool Hilmi; Putranti, Vina

doi:10.1155/2015/429215

Cited by 23 publications

(23 citation statements)

References 22 publications

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“…For example, a second order sliding mode controller for trajectory tracking task for an underwater vehicle is proposed in [8]. In order to minimize the energy consumption of the controller, a Super-Twisting SMC with region concept is proposed in [9]. However, the main drawback of the SMC is the chattering effect induced by the signum function.…”

Section: Several Strategies Have Been Proposed To Control Underwater mentioning

confidence: 99%

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Adaptive disturbance observer for trajectory tracking control of underwater vehicles

et al. 2020

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Complex and highly coupled dynamics, time-variance, unpredictable disturbances and lack of knowledge of hydrodynamic parameters, complicate the control of underwater vehicles. This paper deals with the adaptive disturbance observer design for the robust trajectory tracking problem for underwater vehicles in presence of unknown external disturbances and parametric uncertainties. First, the dynamics of the vehicle is transformed into the socalled regular form. Then, based on the Extended State Observer technique and High Order Sliding Modes Control, a disturbance observer is proposed. Furthermore, the gains of the observer are automatically adjusted by the introduction of an adaption law. The stability of the whole controller/observer scheme is proven using Lyapunov's arguments. The adaptive disturbance observer aims to improve the Backstepping and nonlinear PD controllers. Real-Time experiments demonstrate the effectiveness of the proposed algorithm for the trajectory tracking task under several scenarios.

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Section: Several Strategies Have Been Proposed To Control Underwater mentioning

confidence: 99%

“…Following this line of thinking, the disturbance estimation made by the AGSTA-ESO will be introduced into the NLPD. For notation consistency, let us now write the UAV's dynamic system (9) in terms of the variables ζ = η and ζ 2 =η, namely,…”

Section: Adaptive Nonlinear Pd Controlmentioning

confidence: 99%

Adaptive disturbance observer for trajectory tracking control of underwater vehicles

et al. 2020

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“…sgn( ) u and eq u denotes as the super twisting control law and equivalent control law respectively [16]. In this case, u is the total control input to the system that is the brake torque in term of current supplied to the MRF brake system.…”

Section: Controller Designmentioning

confidence: 99%

Longitudinal slip control using Magnetorheological brake via Second Order Sliding Mode Controller

Yusop

Ariff

Zamzuri

et al. 2015

2015 IEEE International Conference on Control System, Computing and Engineering (ICCSCE)

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This paper presents an application of Second Order Sliding Mode Controller (SOSMC) to regulate the vehicle longitudinal slip using Magnetorheological Fluid (MRF) brake as an actuator for the vehicle braking system. A quarter vehicle with a simple Bingham model is adopted as the control plant and the MRF brake system model respectively. Numerical assessments are conducted for various types of the road surface with the main objective to regulate the longitudinal slip at its optimum friction value. Since the control system is regarded as a highly nonlinear environment, the utilization of SOSMC is considered as decent control solution to cope with the system uncertainties and at the same time reduced the system chattering effect caused by conventional sliding mode control. Results show that the targeted optimum slip reference can be achieved with a smooth input signal compared to conventional SMC. Index Terms-Antilock Brake System (ABS), Slip Control, Sliding Mode Control, Magnetorheological Fluid (MRF)

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“…A broad class of robust controllers has been proposed for the trajectory tracking problem on AUV. For example, Fuzzy Logic Controllers (FLC) [6] [7], Neural-Network based control (NNC) [8,9], Predictive control [10], Adaptive control [11], Sliding Modes Control (SMC) [12], High Order Sliding Modes Control (HOSMC) [13,14] and so on. Each methodology has strengths and weaknesses.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking for autonomous underwater vehicle: An adaptive approach

et al. 2019

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During sea missions, underwater vehicles are exposed to changes in the parameters of the system and subject to persistent external disturbances due to the ocean current influence. These issues make the design of a robust controller a quite challenging task. This paper focuses on the design of a adaptive high order sliding mode control for trajectory tracking on an underwater vehicle. The main feature of the developed control law is that it preserves the advantages of robust control, it does not need the knowledge of the upper bound of the disturbance and easy tuning in real applications. Using Lyapunov concept, asymptotic stability of the closed-loop tracking system is ensured. The effectiveness and robustness of the proposed controller for trajectory tracking in depth and yaw dynamics are demonstrated through real-time experiments.

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Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

Cited by 23 publications

References 22 publications

Adaptive disturbance observer for trajectory tracking control of underwater vehicles

Adaptive disturbance observer for trajectory tracking control of underwater vehicles

Longitudinal slip control using Magnetorheological brake via Second Order Sliding Mode Controller

Trajectory tracking for autonomous underwater vehicle: An adaptive approach

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