scholarly journals An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2316
Author(s):  
Quang Van Vu ◽  
Tuan Anh Dinh ◽  
Thien Van Nguyen ◽  
Hoang Viet Tran ◽  
Hai Xuan Le ◽  
...  
Keyword(s):  
Adaptive Learning ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Lyapunov Theory ◽  
Control Technique ◽  
External Disturbances ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Over Time

The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external disturbances such as ocean currents when it operates, it is paramount to robustly maintain motions of the vehicle over time as expected. Therefore, it is proposed to employ the hierarchical sliding mode control technique to design the closed-loop control scheme for the device. However, exactly determining parameters of the AUV control system is impractical since its nonlinearities and external disturbances can vary those parameters over time. Thus, it is proposed to exploit neural networks to develop an adaptive learning mechanism that allows the system to learn its parameters adaptively. More importantly, stability of the AUV system controlled by the proposed approach is theoretically proved to be guaranteed by the use of the Lyapunov theory. Effectiveness of the proposed control scheme was verified by the experiments implemented in a synthetic environment, where the obtained results are highly promising.

Robust Guidance Control for Nonholonomic AGV Based on First Order Dynamic Sliding Mode Techniques

2013 ◽  
Vol 709 ◽  
pp. 583-588
Author(s):  
Jin Hua Ye ◽  
Di Li ◽  
Shi Yong Wang ◽  
Feng Ye
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Guidance Control ◽  
First Order ◽  
Control Scheme ◽  
The Impact ◽  
Dynamic Sliding Mode

This paper develops a high performance guidance controller for automated guided vehicle (AGV) with nonholonomic constraint. In this controller, the path following method in the Serret-Frenet frame is used for driving the AGV onto a predefined path at a constant forward speed. Moreover, a first order dynamic sliding mode controller is proposed, not only to overcome the impact of unknown model uncertainties and external disturbances of the system, but also to weaken the chattering in the standard sliding mode control. The global asymptotic stability and robustness of the system is proven by the Lyapunov theory and LaSalles invariance principle. Simulation results show the validity of the proposed guidance control scheme.

scholarly journals NonlinearH∞Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Zool H. Ismail ◽  
Matthew W. Dunnigan
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Underwater Vehicle ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
Region Tracking

A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV) with region tracking function. Within this control scheme, nonlinearH∞and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.

Distributed Adaptive Fault-Tolerant Cooperative Control for Multi-UAVs Against Actuator and Sensor Faults

2017 ◽  
Author(s):  
Ziquan Yu ◽  
Yaohong Qu ◽  
Youmin Zhang ◽  
Yintao Zhang
Keyword(s):  
Cooperative Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Technique ◽  
Sensor Faults ◽  
External Disturbances ◽  
Dynamic Surface ◽  
Common Reference ◽  
Control Scheme ◽  
The Common

In this paper, a distributed adaptive fault-tolerant cooperative control (FTCC) scheme is developed for flying multiple unmanned aerial vehicles (UAVs) with consideration of actuator and sensor faults. The communication network is an undirected, fixed topology and only a subset of UAVs has access to the common reference. By using a sliding-mode observer, the common reference is estimated by each UAV. The lumped uncertainties including external disturbances, actuator and sensor faults are estimated by an adaptive mechanism. On the basis of the estimated reference and lumped uncertainties, dynamic surface control technique is utilized to eliminate the computational burden inherent in the traditional backstepping control architecture. The highlight is that external disturbances, actuator and sensor faults are considered in the distributed control scheme for multi-UAVs simultaneously. By using graph theory and Lyapunov-based method, it is proved that all signals in the closed-loop system are bounded. Furthermore, simulation results are exhibited to demonstrate the effectiveness of the proposed control scheme.

A fault-tolerant control scheme within adaptive disturbance observer for hypersonic vehicle

2017 ◽  
Vol 233 (3) ◽  
pp. 1071-1088 ◽  
Author(s):  
Jun Zhou ◽  
Jing Chang ◽  
Zongyi Guo
Keyword(s):  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Performance Guarantees ◽  
Uncertain Model ◽  
Control Scheme ◽  
And Performance

The paper describes the design of a fault-tolerant control scheme for an uncertain model of a hypersonic reentry vehicle subject to actuator faults. In order to improve superior transient performances for state tracking, the proposed method relies on a back-stepping sliding mode controller combined with an adaptive disturbance observer and a reference vector generator. This structure allows for a faster response and reduces the overshoots compared to linear conventional disturbance observers based sliding mode controller. Robust stability and performance guarantees of the overall closed-loop system are obtained using Lyapunov theory. Finally, numerical simulations results illustrate the effectiveness of the proposed technique.

Wind Shear Encountered Landing Control Based on CMACs

2013 ◽  
Vol 284-287 ◽  
pp. 2351-2355 ◽  
Author(s):  
Jih Gau Juang ◽  
Chung Ju Cheng ◽  
Teng Chieh Yang
Keyword(s):  
Intelligent Control ◽  
Adaptive Learning ◽  
Wind Shear ◽  
Learning Rule ◽  
Lyapunov Theory ◽  
Intelligent Control System ◽  
Automatic Landing ◽  
Control Scheme ◽  
Shear Condition ◽  
Landing Control

This paper presents an intelligent control scheme that uses different cerebellar model articulation controllers (CMACs) in aircraft automatic landing control. The proposed intelligent control system can act as an experienced pilot and guide the aircraft landed safely in wind shear condition. Lyapunov theory is applied to obtain adaptive learning rule and stability analysis is also provided. Furthermore, the proposed controllers are implemented in a DSP. The simulations by MatLab are demonstrated.

Adaptive altitude flight control of quadcopter under ground effect and time-varying load: theory and experiments

2021 ◽  
pp. 107754632110501
Author(s):  
Ji-Won Lee ◽  
Nguyen Xuan-Mung ◽  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Flight Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Ground Effect ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Time Varying ◽  
Control Performance ◽  
Parameter Uncertainties ◽  
Altitude Control

In recent years, the boom of the quadcopter industry resulted in a broad range of real-world applications which highlighted the urgent need to improve quadcopter control quality. Typically, external disturbances, such as wind, parameter uncertainties caused by payload variations, or the ground effect, can severely degrade the quadcopter’s altitude control performance. Meanwhile, widely used controllers like the proportional-integral-derivative control cannot guarantee control performance when the system is critically affected by factors that exhibit a high degree of variability with time. In this paper, an adaptive control algorithm is proposed to improve quadcopter altitude tracking performance in the presence of both the ground effect and a time-varying payload. First, we derive an adaptive altitude control algorithm using the sliding mode control technique to account for these uncertainties in the quadcopter dynamics model. Second, we apply Lyapunov theory to analyze the stability of the closed-loop system. Finally, we conduct several numerical simulations and experiments to validate the effectiveness of the proposed method.

scholarly journals Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking

2020 ◽  
Vol 2020 ◽  
pp. 1-20
Author(s):  
Jinghui Zhang ◽  
Guoqiang Zeng ◽  
Shifeng Zhang
Keyword(s):  
Sliding Mode Control ◽  
Magnetic Moment ◽  
Disturbance Observer ◽  
Field Model ◽  
Sliding Mode ◽  
Far Field ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Control Scheme ◽  
On Line

This paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external disturbances, and inherent strong nonlinearity and coupling. An improved far-field model of electromagnetic force which is much more accurate than the widely used far-field model is proposed to enable the model parameters to be on-line self-adjusting. Then, the relationship between magnetic moment allocation and energy consumption is derived, and the optimal direction of the magnetic moment vector is obtained. Based on the proposed improved far-field model and the research results of magnetic moment allocation law, a fast-nonsingular terminal mode controller driven by a disturbance observer is designed in the presence of model uncertainties and external disturbances. The proposed control method is guaranteed to be chattering-free and to possess superior properties such as finite-time convergence, high-precision tracking, and strong robustness. Two simulation scenarios are conducted to illustrate the necessity of modifying the far-field model and the effectiveness of the proposed control scheme. The simulation results indicate the realization of electromagnetic soft docking and validate the merits of the proposed control scheme. In the end of this paper, some conclusions are drawn.

scholarly journals Consistency of Control Performance in 3D Overhead Cranes under Payload Mass Uncertainty

Electronics ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 657 ◽  
Author(s):  
Uyen Tu Thi Hoang ◽  
Hai Xuan Le ◽  
Nguyen Huu Thai ◽  
Hung Van Pham ◽  
Linh Nguyen
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Technique ◽  
Control Performance ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Mass Uncertainty ◽  
Payload Mass

The paper addresses the problem of effectively and robustly controlling a 3D overhead crane under the payload mass uncertainty, where the control performance is shown to be consistent. It is proposed to employ the sliding mode control technique to design the closed-loop controller due to its robustness, regardless of the uncertainties and nonlinearities of the under-actuated crane system. The radial basis function neural network has been exploited to construct an adaptive mechanism for estimating the unknown dynamics. More importantly, the adaptation methods have been derived from the Lyapunov theory to not only guarantee stability of the closed-loop control system, but also approximate the unknown and uncertain payload mass and weight matrix, which maintains the consistency of the control performance, although the cargo mass can be varied. Furthermore, the results obtained by implementing the proposed algorithm in the simulations show the effectiveness of the proposed approach and the consistency of the control performance, although the payload mass is uncertain.

scholarly journals Synchronization of Synchronous Reluctance Motors Using the Discrete Sliding Mode Control Technique

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Salahuddin Abdul Rahman ◽  
Mohamed Zribi ◽  
Nejib Smaoui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Chaotic Behavior ◽  
Initial Conditions ◽  
Control Technique ◽  
Mode Control ◽  
Synchronous Reluctance Motor ◽  
Control Scheme ◽  
Bounded Disturbances ◽  
Simulation Results

The synchronous reluctance motor (SynRM) drive system is known to exhibit chaotic behavior under specified conditions. In this paper, the discrete-time sliding mode control (DSMC) technique is used to synchronize two SynRMs starting from different sets of initial conditions. The mixed variable speed reaching law is adopted in the design of the controller scheme. The parameters of the designed control scheme are tuned using a genetic algorithm (GA). Simulation results are presented to demonstrate the effectiveness of the proposed controller. In addition, the performance of the proposed control scheme is studied through simulations when bounded disturbances and mismatches between the parameters of the systems and those of the control scheme exist. The simulation results show that the designed control scheme is robust to bounded external disturbances and to mismatches in the parameters of the systems.

scholarly journals Adaptive output feedback integral sliding mode attitude tracking control of spacecraft without unwinding

2017 ◽  
Vol 9 (7) ◽  
pp. 168781401771040 ◽  
Author(s):  
Anuchit Jitpattanakul ◽  
Chutiphon Pukdeboon
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Integral Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This article studies an output feedback attitude tracking control problem for rigid spacecraft in the presence of parameter uncertainties and external disturbances. First, an anti-unwinding attitude control law is designed using the integral sliding mode control technique to achieve accurate tracking responses and robustness against inertia uncertainties and external disturbances. Next, the derived control law is combined with a suitable tuning law to relax the knowledge about the bounds of uncertainties and disturbances. The stability results are rigorously proved using the Lyapunov stability theory. In addition, a new finite-time sliding mode observer is developed to estimate the first time derivative of attitude. A new adaptive output feedback attitude controller is designed based on the estimated results, and angular velocity measurements are not required in the design process. A Lyapunov-based analysis is provided to demonstrate the uniformly ultimately bounded stability of the observer errors. Numerical simulations are given to illustrate the effectiveness of the proposed control method.

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