Trajectory tracking for underactuated UUV using terminal sliding mode control

Shi-kai, Wang; Huang, Jin; Meng, Lexuan

doi:10.1109/ccdc.2016.7532229

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…The stability condition for DTSMC law in ( 27) is necessary to prove the movement of the state trajectory along the sliding surface must be terminated at a stable origin. Considering Sarpturk stability analysis in [48] which gives the inequalities as (28) and (29).…”

Section: Stability Analysis On Dtsmc Lawmentioning

confidence: 99%

“…As a result, the transient response of TSMC improves substantially. In recent work, DTSMC has been used successfully in AUV control design to achieve fast and finite time convergence [27][28][29][30][31][32] and mostly are in continuous time domain. However, due to technology advancement, the effectiveness of continuous SMC in real applications remains inadequate [33,34].…”

Section: Introductionmentioning

confidence: 99%

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A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Sarif

Ngadengon

Kadir

et al. 2021

IJRA

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Autonomous underwater vehicle (AUV) are underwater robotic devices intended to explore hostiles territories in underwater domain. AUVs research gaining popularity among underwater research community because of its extensive applications and challenges to overcome unpredictable ocean behavior. The aim of this paper is to design discrete time terminal sliding mode control (DTSMC) reaching law-based employed to NPS AUV II purposely to improve the dynamic response of the closed loop system. This is accomplished by introducing a nonlinear component to sliding surface design in which the system state accelerated, and chattering effect is suppressed. The nonlinear component consist of fractional power is to ensure steeper slope of the sliding surface in the vicinity of the equilibrium point which lead to quicker convergence speed. Thus, the chattering effect in the control action suppressed as the convergence of the system state accelerated. The stability of the control system is proven by using Sarpturk analysis and the performance of the DTSMC is demonstrated through simulation study. The performance of DTSMC is benchmarked with DSMC and PID controller

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Section: Stability Analysis On Dtsmc Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Sarif

Ngadengon

Kadir

et al. 2021

IJRA

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show abstract

“…In [87], using an adaptive TSMC technique and finite time stabilization theory, the underactuated ships follow the desired path in the finite time in the existence of unknown perturbations. In [88], the tracking problem of underactuated unmanned underwater vehicles is studied and a TSMC-based robust nonlinear control technique is developed. A hierarchical FTSMC-based control design scheme is offered in [27] for a category of uncertain underactuated nonlinear structures.…”

Section: Introductionmentioning

confidence: 99%

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

et al. 2021

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In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

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Development and Research of a Terminal Controller for Marine Robots

Pshikhopov

Gurenko

2020

Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices

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Trajectory tracking for underactuated UUV using terminal sliding mode control

Cited by 6 publications

References 13 publications

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Development and Research of a Terminal Controller for Marine Robots

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