Equidistance Tracking Nonlinear Controller for Under Actuated Autonomous Underwater Vehicles

2010 ◽  
Author(s):  
Behzad Taheri ◽  
Edmond Richer
Keyword(s):  
Parameter Uncertainty ◽  
Moving Objects ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Dynamics Model ◽  
Excellent Performance ◽  
Constant Distance

A new method of path planning and tracking while maintaining a constant distance from underwater moving objects has been developed for autonomous underwater vehicles (AUVs). First a kinematics controller that generates the proper trajectories is designed. Then a dynamics sliding mode controller is employed to drive the vehicle on the desired trajectories. The dynamics controller is robust against the parameter uncertainty in the dynamics model of the vehicle. Results of numerical simulations for INFANTE-AUV model show excellent performance for tracking of an object on sinusoidal trajectory.

An adaptive sliding mode controller with a new reaching law for tracking problem of an autonomous underwater vehicles

2018 ◽  
Vol 41 (6) ◽  
pp. 1772-1787 ◽  
Author(s):  
Mohammad Reza Ramezani-al ◽  
Zahra Tavanaei-Sereshki
Keyword(s):  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicles ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Reaching Law ◽  
Adaptive Sliding Mode Controller ◽  
Highly Nonlinear

Since autonomous underwater vehicles (AUVs) have highly nonlinear dynamics, the employed controller in these systems must be accurate and robust against noise and uncertainties. Sliding Mode Controller is very robust against both the parameters changing and external disturbance. But, there are some major drawbacks of these controllers such as chattering and high vulnerability against noise. In this paper, by modifying the reaching law and using an adaptive gain in the proposed sliding mode controller, these problems are eliminated from the input signal of the system. In the presented reaching law, a continuous term is used instead of the discrete sign function as well as the velocity term is entered in the reaching law. Since there are external disturbances, noises and uncertainties in the system dynamics and modeling, the states may be separated from the surface. Since the reaching law acts when the states separate from the sliding surface, then the gain of reaching law is adapted according to the uncertainties, states error and velocity. Also, the upper bound of disturbance and uncertainty are estimated. Furthermore, the reaching condition and limitation of the switching variable rate for the proposed controller are investigated. Finally, stability and convergence of the closed-loop system are proven analytically using the Lyapunov stability theorem. Some simulations and comparisons with other methods show efficiency of the presented method.

A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles

2013 ◽  
Vol 67 (1) ◽  
pp. 113-127 ◽  
Author(s):  
Daqi Zhu ◽  
Xun Hua ◽  
Bing Sun
Keyword(s):  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Tracking Errors ◽  
Biologically Inspired ◽  
Adaptive Sliding Mode Controller ◽  
Real Time Tracking

A biologically inspired neurodynamics-based tracking controller of underactuated Autonomous Underwater Vehicles (AUV) is proposed in this paper. The proposed control strategy includes a velocity controller with biological neurons and an adaptive sliding mode controller. The biological neurons are embedded into the backstepping velocity controller to eliminate the sharp speed jumps commonly existing in vehicles due to tracking errors changing suddenly. The outputs of the velocity controller are used as the command inputs of the sliding mode controller, and the thruster control constraints problems that are commonly seen in the backstepping control of AUV are solved by the proposed controller. Simulation results show that the control strategy achieved success in smoothly tracking AUV position and velocity.

scholarly journals Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Sensors ◽  
2022 ◽  
Vol 22 (2) ◽  
pp. 488
Author(s):  
Josué González-García ◽  
Alfonso Gómez-Espinosa ◽  
Luis Govinda García-Valdovinos ◽  
Tomás Salgado-Jiménez ◽  
Enrique Cuan-Urquizo ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Experimental Validation ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Convergence Time ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Model Free

Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers strong robustness and fast convergence compared with asymptotic or exponential solutions. Those finite-time controllers do not permit the users to predefine the convergence time, which can be useful for a more efficient use of the robot’s energy. This paper presents the experimental validation of a model-free high-order Sliding Mode Controller (SMC) with finite-time convergence in a predefined time. The convergence time is introduced by the simple change of a time-base parameter. The aim is to validate the controller so it can be implemented for cooperative missions where the communication is limited or null. Results showed that the proposed controller can drive the robot to the desired depth and heading trajectories in the predefined time for all the cases, reducing the error by up to 75% and 41% when compared with a PID and the same SMC with asymptotic convergence. The energy consumption was reduced 35% and 50% when compared with those same controllers.

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
Sign in / Sign up

Export Citation Format

Share Document