Trajectory Tracking of a Novel Underactuated AUV via Nonsingular Integral Terminal Sliding Mode Control

Wu, Zhiwen; Peng, Haosong; Hu, Bi Ying; Feng, Xiaodong

doi:10.1109/access.2021.3098800

Cited by 9 publications

(7 citation statements)

References 26 publications

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“…In some cases, the system becomes underactuated due to defective actuators. When reducing the number of actuators, developing control techniques is more necessary and complex than the fully actuated systems [6,7].…”

Section: Introductionmentioning

confidence: 99%

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Vu,

Bui,

Dang

et al. 2024

IJTDI

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Underwater vehicles are now mainly researched using the 6-DOF equations of motion. The research on 4-DOF Autonomous Underwater Vehicles (AUV) for small Underwater Vehicles regularly focuses on fully actuated control algorithms. Research on underactuated systems has been conducted frequently for surface ships, while 4-DOF underactuated AUV using a nonlinear control system has received little attention. Little research focuses on devices with quadrotor UAV configuration, also known as QUV, but evaluations have yet to be conducted to advise on which controller to use for different cases. Therefore, in this article, the authors focus on building a control algorithm for an AUV object that lacks a typical recursive executive structure, which is the Backstepping controller when dividing the 4-order strict backpropagation nonlinear system into subsystems to design feedback controllers and Lyapunov control functions for each subsystem. Using this same approach, the authors built a controller that combines Backstepping controller and Hierarchical Sliding Mode Controller (HSMC). This is the guiding premise for research on improving the quality of 4-DOF AUV control before comparing and evaluating the two controllers for specific cases. Newly proposed algorithms and stability analyses are based on Lyapunov's theory, and an evaluation survey is carried out through simulation by Matlab software.

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Section: Introductionmentioning

confidence: 99%

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Vu,

Bui,

Dang

et al. 2024

IJTDI

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show abstract

“…Underwater robots are characterized as nonlinear control objects that are difficult to model and are underactuated, with strong coupling and susceptibility to external disturbances [2][3][4][5][6][7][8][9][10]. The primary control method for tracking control is to integrate the Lyapunov method with backstepping control.…”

Section: Introductionmentioning

confidence: 99%

“…This method progressively simplifies the intricate design of the control system [2][3][4][5]. Owing to its robustness against parameter perturbations and external disturbances, sliding mode control (SMC) has emerged as another primary method for AUV trajectory tracking [6][7][8]. S. Soylu et al [6] improved trajectory tracking performance by combining SMC, PID, and robust control methods.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control

Wei,

Xiang,

et al. 2023

Sensors

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To overcome the difficulty in tracking the trajectory of an inspection robot inside a transformer, this paper proposes a distributed model predictive control method. First, the kinematics and dynamics models of a robot in transformer oil are established based on the Lagrange equation. Then, by using the nonlinear model predictive control method and following the distributed control theory, the motion of a robot in transformer oil is decoupled into five independent subsystems. Based on this, a distributed model predictive control (DMPC) method is then developed. Finally, the simulation results indicate that a robot motion control system based on DMPC achieves high tracking accuracy and robustness with reduced computing complexity, and it provides an effective solution for the motion control of robots in narrow environments.

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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%

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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Trajectory Tracking of a Novel Underactuated AUV via Nonsingular Integral Terminal Sliding Mode Control

Cited by 9 publications

References 26 publications

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Trajectory Tracking Control of Transformer Inspection Robot Using Distributed Model Predictive Control

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

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