Discrete Sliding Mode Controller on Autonomous Underwater Vehicle in Steering Motion

Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A. Jalil
2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano

10.14311/730 ◽  
2005 ◽  
Vol 45 (4) ◽  
Author(s):  
A. J. Mitchell ◽  
E. W. McGookin ◽  
D. J. Murray-Smith

This paper looks at the implementation of a Sliding Mode Observer (SMO) based Reconfiguration algorithm to deal with sensor faults within the context of navigation controllers for Autonomous Underwater Vehicle (AUV). In this paper the reconfigurability aspects are considered for the heading controller. Simulation responses are used to illustrate that the Sliding Mode Observer is able to give state information to the controller when there is a fault in the AUV’s sensor package. Comparisons are made between the Sliding Mode Controller with and without reconfigurability for a number of different sensor failures, e.g. bias errors in or the complete loss of the heading data, and the robustness of the Sliding Mode Observer is investigated through the introduction of disturbances into the system. 


2019 ◽  
Vol 6 (5B) ◽  
pp. 96-102 ◽  
Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A.Jalil

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Zool H. Ismail ◽  
Vina W. E. Putranti

The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV) is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC), gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC) with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.


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