Simulation of optimal integral sliding mode controller for the depth control of AUV

Tang, Zhaodong; Zhang, Jiajia; Bian, Xinqian; Jia, Heming

doi:10.1109/icinfa.2010.5512190

Cited by 13 publications

(5 citation statements)

References 6 publications

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“…The integral sliding mode control guarantees the robustness of the motion in the whole state space [25,26] because of eliminating the reaching phase. Since the reaching phase is eliminated, therefore the robustness of the system can be guaranteed throughout the system response, starting from the initial time instance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

Abbasi

Rehman

2016

Mathematical Problems in Engineering

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This article presents adaptive integral sliding mode control algorithm for the stabilization of nonholonomic drift-free systems. First the system is transformed, by using input transform, into a special structure containing a nominal part and some unknown terms which are computed adaptively. The transformed system is then stabilized using adaptive integral sliding mode control. The stabilizing controller for the transformed system is constructed that consists of the nominal control plus a compensator control. The compensator control and the adaptive laws are derived on the basis of Lyapunov stability theory. The proposed control algorithm is applied to three different nonholonomic drift-free systems: the unicycle model, the front wheel car model, and the mobile robot with trailer model. The controllability Lie algebra of the unicycle model contains Lie brackets of depth one, the model of a front wheel car contains Lie brackets of depths one and two, and the model of a mobile robot with trailer contains Lie brackets of depths one, two, and three. The effectiveness of the proposed control algorithm is verified through numerical simulations.

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Section: Introductionmentioning

confidence: 99%

Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

Abbasi

Rehman

2016

Mathematical Problems in Engineering

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“…Using equation (18), the transformations (76) and (77), and adding (19) and (20) to (78), we can obtain the following linearity relation associated with the unknown dynamics model:…”

Section: Adaptive Position and Attitude Controlmentioning

confidence: 99%

“…In fuzzy-logic control, neural-networks, and sliding-mode control, we can cite other works. [11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26] The main arguments in favor of sliding-mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters. 27,28 Due to its ability to tolerate imprecision in the dynamic model, the sliding-mode approach is an effective means of controlling an AUV.…”

Section: Introductionmentioning

confidence: 99%

“…In view of practical implementation, a simplified version of the developed control law is also proposed to compensate only the persistent hydrodynamic terms, namely, the restoring generalized forces and the ocean current. In fuzzy‐logic control, neural‐networks, and sliding‐mode control, we can cite other works . The main arguments in favor of sliding‐mode control are order reduction, decoupling design procedure, disturbance rejection, insensitivity to parameter variations, and simple implementation by means of power converters …”

Section: Introductionmentioning

confidence: 99%

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Nonlinear mapping for performance improvement and energy saving of underwater vehicles

Santos

Cildoz

Vieira

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper proposes an improvement on underwater vehicles control strategy using an adaptive sliding‐mode method. This improvement is threefold. First, water current compensation is explicitly dealt within in the control law. Second, a nonlinear parameterization is developed by employing new methods for the design of the sliding surface, aiming at vehicles tracking performance. Third, parameters of the designed sliding surface in the control law are varied according to a nonlinear mapping of thruster forces aimed to energy saving of propulsion system. Three different methods are given for the design of the sliding surface. The proposed control law guarantees global asymptotic stability of the tracking error, and the stability proof is provided in the paper even in the presence of variable currents. Moreover, the tracking performance and energy saving are compared with conventional methodologies to show the effectiveness of the proposed method.

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“…So far, a few researchers have employed ISMCs for AUV. Lea, Allen, andMerry (1999), Fu, Bian, Wang, andGu (2005) and Tang, Zhou, Bian, and Jia (2010) showed performance improvements in transient response and carried out numerical simulations. But, in practical inspection tasks using AUV, station-keeping ability under uncertain hydrodynamics and unknown disturbances is a more important requirement for the control of AUV than the performance in the transient response.…”

Section: Introductionmentioning

confidence: 98%

Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

Kim

Joe

Kim

et al. 2015

International Journal of Control

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We propose an integral sliding mode controller (ISMC) to stabilse an autonomous underwater vehicle (AUV) which is subject to modelling errors and often suffers from unknown environmental disturbances. The ISMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides and currents. The ISMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable. Numerical simulations were performed to validate the proposed control approach, and experimental tests using Cyclops AUV were carried out to demonstrate its practical feasibility.

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Simulation of optimal integral sliding mode controller for the depth control of AUV

Cited by 13 publications

References 6 publications

Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

Adaptive Integral Sliding Mode Stabilization of Nonholonomic Drift-Free Systems

Nonlinear mapping for performance improvement and energy saving of underwater vehicles

Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances

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