Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control (original) (raw)
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Review of sliding mode control application in autonomous underwater vehicles
] This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness.
Sliding mode control of an autonomous underwater vehicle
Proceedings. International Conference on Machine Learning and Cybernetics
In this study, an autonomous underwater vehicle (AUV) model with six degrees of freedom is presented to be shown having been linearized under several working conditions. Sliding Mode Control Law which is derived from linear theory is applied autonomous underwater vehicle for yaw steering plane. Simulation study is given to show that sliding mode controller designed assuming small states variation and decoupled plane cope with modeling non-linearity, uncertainty, disturbance effect.
On the dynamic positioning control of underwater vehicles subject to ocean currents
2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control, 2011
The underwater vehicle control has two problems to deal with: parametric uncertainty and unknown disturbance. Sliding Mode Control (SMC) effectively addresses these issues and is therefore a viable choice for controlling underwater vehicles. On the other hand, this method is known to be susceptible to chatter, which is a high frequency signal induced by the switching control. In this paper a new control methodology called Model-free High Order Sliding Modes Control (HOSMC) is introduced. HOSMC principal characteristic is that it keeps the main advantages of the standard SMC, removing the chattering effects, this advantage is achieved without model knowledge. Simulation results considering the complete 6 DoF (Degrees of Freedom) hydrodynamic model of an underactuated robot, subject to ocean currents, are presented. Real time experiments of a 1 DoF underwater system are conducted to show control effectiveness.
Trajectory tracking sliding mode control of underactuated AUVs
Nonlinear Dynamics, 2015
This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodeled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances. Keywords autonomous underwater vehicles • AUV • underactuated • trajectory tracking • sliding mode control
Design of Autonomous Underwater Vehicle motion control using Sliding Mode Control method
2015 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation (ICAMIMIA), 2015
This paper presents a study of the Autonomous Underwater Vehicle (AUV). Nonlinear model of AUV which has six degrees of freedom being linearized using Jacobian matrix. In this paper, Sliding Mode Control law as a method is applied Autonomous Underwater Vehicle and the simulation obtained a stable performance.
A Sliding Mode Control of an Underwater Robotic Vehicle under the Influence of Thrust Dynamics
The dynamics of underwater vehicles can be greatly influenced by the dynamics of the vehicle thrusters. The control of the state of the hovering or very slow motion of the underwater vehicle is most important for automatic docking or control of the manipulator of the vehicle. The dynamics of the thruster based on the electric motor is nonlinear and has uncertain parameters. Since the dynamics of the vehicle coupled with the dynamics of the thruster is nonlinear and has uncertain parameters, a robust control is very effective for a desired motion tracking of the uncertain and nonlinear vehicle. In this paper a study was performed on the robust control scheme of the very slow motion or hovering motion of the underwater vehicle actuated by the electric motor. Also, a concurrent control on the state of the vehicle with nonlinearity and uncertain parameters was performed. A sliding mode control algorithm out of robust controllers was designed and applied, which compensates the nonlinear ...
IFAC-PapersOnLine, 2018
This paper deals with the design and implementation of a nonlinear control strategy to solve the path tracking problem for an Autonomous Underwater Vehicle (AUV) under model uncertainties and external disturbances. First, the AUV model is transformed into the so-called regular form by an appropriate selection of state variables. The method is based on the second-order sliding mode technique known as Generalized Super-Twisting Algorithm (GSTA) introducing the design of an auto-adjustable gain controller which offers a way to ensure robustness to modeling errors and bounded external disturbances. The control law is designed to maintain a minimum margin of error in the trajectory tracking of the AUV even in the presence of damping and buoyancy disturbances. Finally, experimental results are also provided to illustrate the performances of the closed-loop system using the proposed controller.
Abstruct-A six degree of freedom model for the maneuvering of an underwater vehicle is used and a sliding mode autopilot is designed for the combined functions. In flight control a arise because the system to be controlled is highly nonlinear, coupled, and there is a good deal of parameter uncertainty and variation with operational conditions. The development of variable structure control in the form of sliding modes has been shown to provide robustness that is expected to be quite remarkable for AUV autopilot design. This paper shows that a multivariable sliding mode autopilot based on state feedback, designed assuming decoupled modeling, is quite s-ory for the combined speed, steering, and diving response of a slow speed AUV. The influence of speed, modeling nonlinearity, uncertainty, and disturbances, can be effectively compensated, even for complex maneuvering. Waypoint acquisition based on line of sight guidance is used to achieve path tracking.
Robust control of underwater vehicles: sliding mode control vs. mu synthesis
IEEE Oceanic Engineering Society. OCEANS'98. Conference Proceedings (Cat. No.98CH36259), 2000
This paper presents the results of a controller synthesis where a robust control of an AUV is developed using two different methods. The problem statement requires the design of a position and attitude control system for the vehicle in order to achieve precise trajectory following. Firstly, a detailed nonlinear model of the vehicle was derived. Secondly an operating point for nominal design was selected, and a multivariable linear model of the vehicle was obtained by linearization around the operating point. The presence of structured uncertainties due to errors in the computation of hydrodynamic coefficients, dynamic linearization and truncation, unknown disturbances, were considered. Two robust controllers were designed, the first one linear, using standard Mu analysis and synthesis techniques, and the second one nonlinear, using a Sliding Mode approach. The performance of the two controllers were extensively evaluated and compared in simulation with a full nonlinear model of the vehicle.
Sliding Mode Control with Disturbance Estimation for Underwater Robot
2022
This paper proposes a sliding mode control with a disturbance estimation for an underwater robot. The mobility performance of an underwater robot is influenced by modeling error, observation noise, and several disturbances such as ocean current and tidal current. Therefore, a robust control system is needed for precise motion control of an underwater robot. This paper uses a sliding mode control, which is one of the robust control methods. In a sliding mode control, chattering tends to occur, if the switching gain is set to a high value. On the other hand, it is desirable to set the switching gain high from the viewpoint of robustness. Therefore, there is a trade-off between the switching gain and robustness. In the proposed method, the disturbance is estimated in real-time, and this estimated value is added to the control input. Most of the disturbances are compensated by this estimated value, and the sliding mode control is used for the rest of the disturbances. As a result, the robust control system is achieved by using the proposed method, even if the switching gain is set to a low value. The validity of the proposed method was confirmed from the simulation and experimental results.