Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles

Elmokadem, Taha; Zribi, Mohamed; Youcef‐Toumi, Kamal

doi:10.1016/j.oceaneng.2016.10.032

Cited by 244 publications

(121 citation statements)

References 35 publications

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“…Under sensorless condition, a high gain observer based SMC was developed to force an underactuated vessel to follow a predefined course [20] and a sliding mode backstepping control law was employed for the path following problem of underactuated surface vessels by means of parameter estimation [21]. In regard to autonomous underwater vehicles (AUV) tracking control, Zhang et al [22] developed an adaptive second order SMC for the path following control of a portable AUV, and Elmokadem et al [23] designed a terminal sliding mode control (TSMC) for the trajectory tracking of AUVs.…”

Section: Ship Course Keeping Using Differentmentioning

confidence: 99%

Ship Course Keeping Using Different Sliding Mode Controllers

Liu

2019

TFAMENA

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This study addresses three sliding mode heading controllers for dealing with uncertain wave disturbances. A nonlinear steering model is derived, and the feedback linearization method is chosen to simplify the nonlinear system in this study. The adaptive method and disturbance observer technique are proposed for course keeping and ensuring robust performance of the time varying wave moment and actuator dynamics. Finally, the simulation results on a navy ship illustrate the effectiveness of the presented control algorithms for course keeping.

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Section: Ship Course Keeping Using Differentmentioning

confidence: 99%

Ship Course Keeping Using Different Sliding Mode Controllers

Liu

2019

TFAMENA

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“…It means only the surge and yaw can be regulated directly, but without any actuators for their sway motion [19,20].…”

Section: Hovercraft Model Descriptionmentioning

confidence: 99%

“…where 1 , 2 , 1 , 2 , , and are positive constants,Ŵ = W + W * ,Ŵ =W + W * , and is defined in (20). And the adaptive laws arė…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

Gao

Wang

2017

Mathematical Problems in Engineering

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This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints. By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability. And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities. In view of the natural capabilities of actuators, the control input is constrained. High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks. The proposed controller guarantees the boundedness of all the closed-loop signals. Specifically, the tracking errors are uniformly ultimately bounded. Numerical simulations are implemented to demonstrate the efficacy of the designed controller.

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“…29 Elmokadem et al propose a robust control scheme using terminal sliding mode control to solve the horizontal plane trajectory tracking problem of underactuated AUV, which is effective for bounded disturbances. 30 A terminal sliding mode controller is designed to improve the performance of trajectory tracking control and accelerate the converging rate, where an extended disturbance observer is employed to estimate current-induced uncertainties and an anti-windup technique is applied to weaken the influence of actuator saturation. 31 For solving the coordinated tracking problem of multi-AUVs with time-varying trajectory, a predictor-based neural dynamic surface controller is designed, where the predictor is utilized to recover the unmeasured velocities and identify the vehicle dynamics with little information of models.…”

Section: Introductionmentioning

confidence: 99%

Target tracking control of underactuated autonomous underwater vehicle based on adaptive nonsingular terminal sliding mode control

Cao

Sun

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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This article addresses the design of adaptive target tracking control for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by ocean current. Firstly, based on the line-of-sight method, the moving target tracking guidance strategy is designed, and the target tracking reference speed and reference angular velocity are given. According to the obtained reference speed and reference angular velocities, the reference control quantity is differentiated and filtered based on dynamic surface control. The target tracking controller is designed based on radial basis function neural network and nonsingular terminal sliding mode control and adaptive techniques. Lyapunov stability principle is utilized to ensure the asymptotic stability of the target tracking controller. Simulation of target tracking is carried out to illustrate the effectiveness of the proposed controller.

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Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles

Cited by 244 publications

References 35 publications

Ship Course Keeping Using Different Sliding Mode Controllers

Ship Course Keeping Using Different Sliding Mode Controllers

Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

Target tracking control of underactuated autonomous underwater vehicle based on adaptive nonsingular terminal sliding mode control

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