Control of ��-Autonomous Surface Vehicle Using Sliding Mode Control

This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

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Development of Small Autonomous Surface Vehicle Implementing Position Control System Using Sliding Mode Control

Sensors and Materials ◽

10.18494/sam.2021.3216 ◽

2021 ◽

Vol 33 (3) ◽

pp. 883

Author(s):

Yamato Kawamura ◽

Junichiro Tahara ◽

Tetsu Kato ◽

Shun Fujii ◽

Shoichiro Baba ◽

...

Keyword(s):

Control System ◽

Sliding Mode Control ◽

Position Control ◽

Sliding Mode ◽

Mode Control ◽

Autonomous Surface Vehicle ◽

Position Control System

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Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor

International Journal of Electrical and Computer Engineering (IJECE) ◽

10.11591/ijece.v10i5.pp4789-4797 ◽

2020 ◽

Vol 10 (5) ◽

pp. 4789

Author(s):

Hendro Nurhadi ◽

Erna Apriliani ◽

Teguh Herlambang ◽

Dieky Adzkiya

Keyword(s):

Control System ◽

Environmental Factors ◽

Sliding Mode Control ◽

Sliding Mode ◽

Average Error ◽

Motion Controller ◽

Mode Control ◽

Autonomous Surface Vehicle ◽

Vehicle Motion ◽

Three Degree Of Freedom

Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.

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Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

Polish Maritime Research ◽

10.2478/pomr-2019-0057 ◽

2019 ◽

Vol 26 (3) ◽

pp. 163-171

Author(s):

Hossein Nejatbakhsh Esfahani ◽

Rafal Szlapczynski

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Property A ◽

Robust Model Predictive Control ◽

State Response ◽

Mode Control ◽

Hybrid Controller ◽

Autonomous Surface Vehicle ◽

Robust Model ◽

Chattering Attenuation

Abstract This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

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