Super-twisting integral sliding mode control for trajectory tracking of an Unmanned Underwater Vehicle

Manzanilla, Adrian; Ibarra, Efraín; Salazar, Sergio; Suárez, Angel; Lozano, Rogelio; Muñoz, Filiberto

doi:10.1016/j.oceaneng.2021.109164

Cited by 52 publications

(30 citation statements)

References 17 publications

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“…The statistical results of the proposed controller under effect of El Centro 1940 earthquake are given in Table 4. From the comparison with the results that were obtained by [24,25], notice that the proposed control technique is better in terms of control force than all control techniques except those proposed control algorithms No.2 and 8 respectively, but by observing the displacement which obtained by ISMC, ISMC result is better than the above two algorithms as well as from all control algorithms which proposed in [24,25].…”

Section: Resultsmentioning

confidence: 74%

“…SMC has two phases, reaching phase and sliding phase. During reaching phase the system is affected by the perturbation, while during sliding phase the system is not affected by it [15,25]. Therefore, it is desired to reduce or even remove the reaching phase.…”

Section: Control Designmentioning

confidence: 99%

“…Firstly, ISMC is designed for the first time for reducing structural vibrations. This controller does not have reaching phase that is found in classical SMC [22][23][24][25]. Secondly, the unmatched disturbance is taken into consideration for the first time in the design for this system.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of Integral Sliding Mode Control for Seismic Effect Regulation on Buildings with Unmatched Disturbance

Husain¹,

MohammadRidha²

2022

MMEP

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In this work the robustness properties of Integral Sliding Mode Controller (ISMC) are studied for the problem structural vibration. Selecting the sliding manifold which takes into account the attenuation of the unmatched perturbation is studied as well. This study has two scenarios the first is comparing two types of sliding mode controllers which designed to control 3-story scaled structure supported by Magneto Rheological Damper (MRD). ISMC is compared to classical Sliding Mode Control (SMC) performance, the two controllers checked under effect of Mexico city earthquake. The second scenario compares the proposed controller with other controllers from literature under effect of time scaled El Centro 1940 earthquake. The results show that ISMC performance is better than SMC in scenario one and better than other controllers in scenario two. All the simulation results are obtained by MATLAB.

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Section: Resultsmentioning

confidence: 74%

Section: Control Designmentioning

confidence: 99%

See 1 more Smart Citation

Design of Integral Sliding Mode Control for Seismic Effect Regulation on Buildings with Unmatched Disturbance

Husain¹,

MohammadRidha²

2022

MMEP

View full text Add to dashboard Cite

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“…The studies on trajectory tracking control have been a major focus for autonomous vehicles. This research can be categorised primarily into four different methods: backstepping control [10,11], sliding mode control [12][13][14][15], linearisation control [16,17], and neural networks and fuzzy logic control [18][19][20][21]. The linearisation control method [16,22] is straight forward and easy to implement; however, this method faces difficulty when applied to UUVs.…”

Section: Introductionmentioning

confidence: 99%

“…Sliding mode control [14,26,27] on UUVs has many advantages, such as insensitivity to parameter variances and providing the system with extra robustness against disturbances. The downside of the sliding mode control design is that this control method has the chattering issue, and these high frequency changes in the control signal may damage the hardware in UUVs.…”

Section: Introductionmentioning

confidence: 99%

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

Yan

Yang

et al. 2022

IET Cyber-Syst and Robotics

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Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic control strategy is first developed to avoid sharp velocity jumps and provides smooth velocity commands relative to conventional methods. Then, a novel sliding mode control is proposed, which is capable of providing smooth and continuous torque commands free from chattering. In comparative studies, the proposed combined hybrid control strategy has ensured control signal smoothness, which is critical in real-world applications, especially for a UUV that needs to operate in complex underwater environments. K E Y W O R D S backstepping, bioinspired neural dynamics, sliding mode control, unmanned underwater vehicleThis is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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A novel fixed‐time sliding mode control for nonlinear manipulator systems based on adaptive disturbance observer

Shi

Zhang

Zhu

2023

Asian Journal of Control

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Considering that in the trajectory tracking control of a nonlinear robotic manipulator system, the control effect is easily limited by the initial state of the system, and the system has modeling error, unknown disturbance, and friction in the actual control, to overcome the above problems, a fixed-time sliding mode control (SMC) strategy based on adaptive disturbance observer (ADO) is developed in this paper. Firstly, feedforward compensation of the system is achieved by developing an ADO to accurately estimate the compound disturbances in the system. Second, a new fixed-time sliding mode (SM) surface is presented to overcome the singularity issue and accelerate the error convergence. In addition, to enhance the performance of the reaching phase, a variable exponential power reaching law (VEPRL) is developed, which can effectively adjust the convergence rate. Through rigorous theoretical analysis, it is shown that the system state can be stabilized at a fixed time, and an upper bound on the convergence time is also given. Finally, the effectiveness of the control method is verified by comparing it with different control schemes in simulation. K E Y W O R D Sadaptive disturbance observer (ADO), fixed time, robotic manipulator system, sliding mode (SM) surface, variable exponential power reaching law (VEPRL)

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Super-twisting integral sliding mode control for trajectory tracking of an Unmanned Underwater Vehicle

Cited by 52 publications

References 17 publications

Design of Integral Sliding Mode Control for Seismic Effect Regulation on Buildings with Unmatched Disturbance

Design of Integral Sliding Mode Control for Seismic Effect Regulation on Buildings with Unmatched Disturbance

A hybrid tracking control strategy for an unmanned underwater vehicle aided with bioinspired neural dynamics

A novel fixed‐time sliding mode control for nonlinear manipulator systems based on adaptive disturbance observer

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