scholarly journals A discrete-time terminal sliding mode controller design for an autonomous underwater vehicle

2021 ◽  
Vol 10 (2) ◽  
pp. 104
Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A. Jalil ◽  
Khalid Abidi
Keyword(s):  
Discrete Time ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fractional Power ◽  
Underwater Vehicle ◽  
System State ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Nonlinear Component ◽  
Chattering Effect

Autonomous underwater vehicle (AUV) are underwater robotic devices intended to explore hostiles territories in underwater domain. AUVs research gaining popularity among underwater research community because of its extensive applications and challenges to overcome unpredictable ocean behavior. The aim of this paper is to design discrete time terminal sliding mode control (DTSMC) reaching law-based employed to NPS AUV II purposely to improve the dynamic response of the closed loop system. This is accomplished by introducing a nonlinear component to sliding surface design in which the system state accelerated, and chattering effect is suppressed. The nonlinear component consist of fractional power is to ensure steeper slope of the sliding surface in the vicinity of the equilibrium point which lead to quicker convergence speed. Thus, the chattering effect in the control action suppressed as the convergence of the system state accelerated. The stability of the control system is proven by using Sarpturk analysis and the performance of the DTSMC is demonstrated through simulation study. The performance of DTSMC is benchmarked with DSMC and PID controller

scholarly journals Terminal sliding mode control on autonomous underwater vehicle in diving motion control

2020 ◽  
Vol 20 (2) ◽  
pp. 798
Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A. Jalil
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Time Domain ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Reaching Law

<p>In this study, mechanism for reducing chattering in discrete conventional Sliding Mode Controller (DSMC) for Autonomous Underwater Vehicle (AUV) was designed in discrete time domain. The combination of reaching law approach and discrete Terminal Sliding Mode Control (DTSMC) scheme was employed to alleviate chattering effect caused by Quasi Sliding Mode (QSM). First, 6 DOF NPS AUV II equation of motion is linearized to diving mode subsystem. Second, linear sliding surface in discrete time domain is designed and Reaching Law Based (RLB) is employed to the control law. Thirdly, discrete nonlinear sliding surface, specifically DTSMC is designed to reduce chattering phenomena and improved precision control simultaneously. Finally, comparative experimental results are presented to illustrate the effectiveness and advantages of the nonlinear sliding surface. (9 pt).</p>

Fuzzy Sliding Mode with Region Tracking Control for Autonomous Underwater Vehicle

2015 ◽  
Vol 72 (2) ◽  
Author(s):  
Mohd Bazli Mohd Mokhar ◽  
Zool Hilmi Ismail
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Signum Function ◽  
Fuzzy Sliding Mode ◽  
Region Tracking ◽  
Chattering Effect

This paper presents fuzzy sliding mode control with region tracking control for a single autonomous underwater vehicle. The vehicle is needed to track a certain moving region whilst under the influence of wave current. The fuzzy logic is used to tune the gain and to reduce the effect of chattering effect, the signum function is replaced by saturation function. Simulation result is presented to demonstrate the performance of the proposed tracking control of the AUV.            

scholarly journals Depth Control of Autonomous Underwater Vehicle Using Discrete Time Sliding Mode Controller

2019 ◽  
Vol 6 (5B) ◽  
pp. 96-102 ◽  
Author(s):  
Nira Mawangi Sarif ◽  
Rafidah Ngadengon ◽  
Herdawatie Abdul Kadir ◽  
Mohd Hafiz A.Jalil
Keyword(s):  
Discrete Time ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Sliding Mode Controller ◽  
Depth Control

Three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle with a robust adaptive algorithm

2019 ◽  
Vol 43 (2) ◽  
pp. 179-188
Author(s):  
Yunbiao Jiang ◽  
Chen Guo ◽  
Haomiao Yu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode ◽  
Uncertain Disturbances ◽  
Virtual Velocity

This paper investigates the problem of three-dimensional trajectory tracking control for an underactuated autonomous underwater vehicle in the presence of uncertain disturbances. The concept of virtual velocity control is adopted and desired velocities are designed using the backstepping method. Then, the trajectory tracking problem is transformed into a stabilization problem of virtual velocity errors. Dynamic control laws are developed based on non-singular terminal sliding mode control to stabilize virtual velocity errors, and adaptive laws are introduced to deal with parameter perturbation and current disturbances. The stability of the closed-loop control system is analyzed based on Lyapunov stability theory. Two sets of typical simulations are carried out to verify the effectiveness and robustness of the trajectory tracking control algorithm under uncertain disturbances.

Sign in / Sign up

Export Citation Format

Share Document