Fuzzy Sliding-Mode Formation Control for Multiple Underactuated Autonomous Underwater Vehicles

2016 ◽  
pp. 503-510 ◽  
Author(s):  
Hai Huang ◽  
Guo-cheng Zhang ◽  
Yue-ming Li ◽  
Ji-yong Li
Keyword(s):  
Formation Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Fuzzy Sliding Mode ◽  
Mode Formation

Neuroadaptive Sliding Mode Formation Control of Autonomous Underwater Vehicles With Uncertain Dynamics

2020 ◽  
Vol 14 (3) ◽  
pp. 3325-3333 ◽  
Author(s):  
Jinqiang Wang ◽  
Cong Wang ◽  
Yingjie Wei ◽  
Chengju Zhang
Keyword(s):  
Formation Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Uncertain Dynamics ◽  
Mode Formation

Adaptive fuzzy sliding mode formation controller for autonomous underwater vehicles with variable payload

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Madhusmita Panda ◽  
Bikramaditya Das ◽  
Bidyadhar Subudhi ◽  
Bibhuti Bhusan Pati
Keyword(s):  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Mass Variation ◽  
Content Type ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode ◽  
Payload Mass ◽  
Adaptive Smc

PurposeIn this paper, an adaptive fuzzy sliding mode controller (AFSMC) is developed for the formation control of a team of autonomous underwater vehicles (AUVs) subjected to unknown payload mass variations during their mission.Design/methodology/approachA sliding mode controller (SMC) is designed to drive the state trajectories of the AUVs to a switching surface in the state space. The payload mass variation results in parameter variation in AUV dynamics leading to actuator failure. This further leads to loss of communication among the members of the team. Hence, an adaptive SMC based on fuzzy logic is developed to maintain the coordinated motion of AUVs with payload mass variation.FindingsThe results are obtained by employing adaptive SMC for AUVs with and without payload variations and are compared. It is observed that the proposed adaptive SMC exhibits improved performance and tracks the desired trajectory in less time even with variation in the payload. The adaptive fuzzy control algorithm is developed to handle variation in payload mass variation. Lyapunov theory is used to establish stability of AFSMC controller.Research limitations/implicationsPerfect alignment is assumed between centres of gravity (OG) and buoyancy (OB), thus AUVs maintaining horizontal stability during motion. The AUVs’ body centres are aligned with centres of gravity (OG), thus the distance vector being rg = [0,0,0]T. As it is a tracking problem, sway motion cannot be neglected as the AUVs are travelling in a curved locus, hence susceptible to Coriolis and centripetal forces. The AUV is underactuated as only two thrusters at the stern plate that are employed for the surge and yaw controls and error in Y- direction are controlled by adjusting control input in surge and heave direction. Control inputs to the thruster are constants, and depth control is achieved by adjusting the rudder angle.Practical implicationsAUVs are employed in military mission or surveys, and they carry heavy weapons or instrument to be deployed at or picked from specific locations. Such tasks lead to variation in payload, causing overall mass variation during an AUV’s motion. A sudden change in the mass after an AUV release or pick load results in variation in depth and average velocity.Social implicationsThe proposed controller can be useful for military missions for carrying warfare and hydrographic surveys for deploying instruments.Originality/valueA proposed non-linear SMC has been designed, and its performances have been verified in terms of tracking error in X, Y and Z directions. An adaptive fuzzy SMC has been modelled using quantized state information to compensate payload variation. The stability of AFSMC controller is established by using Lyapunov theorem, and reachability of the sliding surface is ensured.

Methods of Discontinuous Control for the Autonomous Underwater Vehicles

2013 ◽  
Vol 278-280 ◽  
pp. 1473-1476
Author(s):  
Alexander Lebedev
Keyword(s):  
Reference Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Variable Structure ◽  
Underwater Vehicles ◽  
Adjustment Process ◽  
Centralized Control ◽  
Reciprocal Effect ◽  
Discontinuous Control ◽  
Adjustment System

New methods of the synthesis of multi-dimensional robust and adaptive control systems for the centralized control of the spatial motion of autonomous underwater vehicles (AUV) is developed in this paper, such as variable structure system (VSS) and self-adjustment system with reference model. The conditions of the sliding mode existence and the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized discontinuous control provides the high control quality at any variations of the object parameters within the given ranges.

Fixed-time sliding mode tracking control for autonomous underwater vehicles

2021 ◽  
Vol 117 ◽  
pp. 102928
Author(s):  
Jiaqi Zheng ◽  
Lei Song ◽  
Lingya Liu ◽  
Wenbin Yu ◽  
Yiyin Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Mode Tracking
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