scholarly journals Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia

2019 ◽  
Vol 2019 ◽  
pp. 1-14 ◽  
Author(s):  
Guanxue Wang ◽  
Guohua Xu ◽  
Gang Liu ◽  
Wenjin Wang ◽  
Ben Li
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Large Scale ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Path Following ◽  
Mode Control ◽  
Tangent Function

The aim of this paper is to develop a fuzzy iterative sliding mode control (FISMC) scheme for special autonomous underwater vehicles (AUVs) on three-dimensional (3D) path following. In this paper, the characteristics of the AUV are considered, which include a large scale, large inertia, and high speed. The FISMC controller designs iterative sliding mode surfaces by using a hyperbolic tangent function to keep the system with fast convergence and robust performance. At the same time, system uncertainties and environmental disturbances are taken into account. The control algorithm introduces fuzzy control to optimize the control parameters online to enhance the adaptability of the system and inhibit the chattering of the actuators. The performance of the proposed FISMC is demonstrated with numerical simulations.

scholarly journals SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances

2021 ◽  
Vol 11 (22) ◽  
pp. 10978
Author(s):  
Hyun-Hee Kim ◽  
Min-Cheol Lee ◽  
Hyeon-Jin Cho ◽  
Jun-Ho Hwang ◽  
Jong-Seob Won
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Industrial Robots ◽  
Control Algorithms ◽  
Control Input ◽  
Trajectory Tracking Control ◽  
Mode Control

In the underwater environment, robust control algorithms are required to control autonomous underwater vehicles (AUVs) at high speed while preventing large nonlinearities and disturbances. Sliding mode control (SMC) is a well-known robust control theory and has been widely used not only in AUV control but also in systems such as industrial robots which have high nonlinearity in their system dynamics. However, SMC has the disadvantage of causing chattering on the control input, and it is difficult to apply this method to the control fins of an AUV system that cannot move its fins at high speed underwater. In this work, a design for a sliding mode control with sliding perturbation observer (SMCSPO) algorithm is applied to AUVs, and the simulation results under underwater disturbance conditions are discussed. From simulation using MATLAB, it is confirmed that AUV control using SMCSPO shows better trajectory tracking control performance without chattering than PID control.

scholarly journals Path following of ship based on sliding mode control with improved RBF neural network and virtual circle

2021 ◽  
Vol 39 (1) ◽  
pp. 216-223
Author(s):  
Zongxuan Li ◽  
Renxiang Bu ◽  
Hugan Zhang
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Path Following ◽  
Nonlinear Observer ◽  
Measured Velocity ◽  
Mode Control ◽  
Tangent Function

To address the unmeasured velocity, external disturbance and internal model uncertainty for following the path of an under-actuated ship, the paper presents a sliding mode control method based on the radial basis function(RBF) neural network and the velocity observer. To enhance the RBF performance of approximating the unknown, an arc tangent function was exploited in the RBF neural network to update its weight values. Then, the nonlinear observer was built via the hyperbolic tangent function to deal with the unmeasured velocity of the ship. Furthermore, in order to avoid overshoots when the ship is moving to its way points, the virtual paths of a variable circle based on the turning angle were designed at the joints of the path of the ship to enhance its path following capability. Finally, the simulation results show that the sliding mode controller designed in the paper can force the ship to follow accurately the reference path in case of time-varying disturbances without measured velocity and enhance the path following performance of the ship and the accuracy of the RBF neural network, thus demonstrating its effectiveness.

scholarly journals Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

2021 ◽  
Vol 54 (3-4) ◽  
pp. 360-373
Author(s):  
Hong Wang ◽  
Mingqin Zhang ◽  
Ruijun Zhang ◽  
Lixin Liu
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Mode Switching ◽  
Parameter Uncertainties ◽  
Horizontal Vibration ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
System A ◽  
Ultra High Speed

In order to effectively suppress horizontal vibration of the ultra-high-speed elevator car system. Firstly, considering the nonlinearity of guide shoe, parameter uncertainties, and uncertain external disturbances of the elevator car system, a more practical active control model for horizontal vibration of the 4-DOF ultra-high-speed elevator car system is constructed and the rationality of the established model is verified by real elevator experiment. Secondly, a predictive sliding mode controller based on adaptive fuzzy (PSMC-AF) is proposed to reduce the horizontal vibration of the car system, the predictive sliding mode control law is achieved by optimizing the predictive sliding mode performance index. Simultaneously, in order to decrease the influence of uncertainty of the car system, a fuzzy logic system (FLS) is designed to approximate the compound uncertain disturbance term (CUDT) on-line. Furthermore, the continuous smooth hyperbolic tangent function (HTF) is introduced into the sliding mode switching term to compensate the fuzzy approximation error. The adaptive laws are designed to estimate the error gain and slope parameter, so as to increase the robustness of the system. Finally, numerical simulations are conducted on some representative guide rail excitations and the results are compared to the existing solution and passive system. The analysis has confirmed the effectiveness and robustness of the proposed control method.

Sign in / Sign up

Export Citation Format

Share Document