A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

Soylu, Serdar; Buckham, Bradley J.; Podhorodeski, Ron P.

doi:10.1016/j.oceaneng.2008.07.013

Cited by 168 publications

(79 citation statements)

References 24 publications

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“…The existing works [4][5][6][7][8][9][10][11] for the FDA problem of ocean vehicles only considered fully or over-actuated systems. In these results, additional actuators were required to achieve given missions successfully in the presence of the actuator faults.…”

Section: Remarkmentioning

confidence: 99%

“…Other control allocation results have been successfully applied to unmanned ocean vehicles (see [9] and the reference therein). The fault-tolerant control schemes based on the artificial intelligence were designed for underwater vehicles [10] and surface vessels [11]. However, all aforementioned works consider the fully or over-actuated ocean systems.…”

Section: Introductionmentioning

confidence: 99%

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Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties

Park

Yoo

2016

Nonlinear Dyn

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This paper investigates a fault detection and accommodation (FDA) problem of saturated actuators for trajectory tracking of underactuated surface vessels (USVs) in the presence of nonlinear uncertainties. A robust fault detection observer and a time-varying detection criterion are presented to detect the actuator faults distinguished from uncertainties in nonlinear dynamics and external disturbances. Then, we develop an adaptive fault accommodation scheme using the dynamic surface design to compensate the detected faults. For the fault accommodation control, the auxiliary variables and their dynamics are derived to consider the saturation problem of actuators with the nonholonomic property of USVs and to analyze the stability of the sway dynamics clearly. To ensure that tracking errors are globally uniformly ultimately bounded, the projection algorithm is employed for the design of the bounded virtual and actual control laws. The effectiveness of the proposed FDA system is demonstrated by simulation results.

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Section: Remarkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties

Park

Yoo

2016

Nonlinear Dyn

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“…q=[u v w p q r] T is the linear and angular velocity of vehicle with respect to the body-fixed frame, and Ș=[x y z ĳ ș ȥ] T is the position and orientation state vector with respect to the inertial frame. r [5,26,27].…”

Section: Dynamic Model In Ocean Environmentmentioning

confidence: 99%

“…Thrust re-allocation is an effective method to implement fault tolerant control by integrating the thruster fault information provided by the FDD module in the process of mapping the given control demand into the individual thruster forces [4]. Various thrust re-allocation algorithms have been applied to underwater vehicles, such as L infinity-norm approach [5], weighted pseudo-inverse approach [6,7], optimization-based approach [8][9][10]. In most of the above-mentioned references, it is worth noting that it is assumed that the FDD module can detect, isolate and identify thruster fault immediately and accurately.…”

Section: Introductionmentioning

confidence: 99%

Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents

Zhang

Liu

Yin

et al. 2015

Journal of the Franklin Institute

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“…17 In order to reduce the chattering effect in the trajectory control of underwater vehicle, Soylu et al proposed an adaptive concept to replace the switching term in conventional sliding mode control. 18 Fuzzy and neural network scheme can be used to estimate the unknown dynamic uncertainties and parameter uncertainties. 19 In order to minimize chattering effect and improve control resolution against unknown disturbance through exercise rules, Bessa et al proposed an adaptive fuzzy sliding mode controller with a boundary layer to deal with the parameter uncertainties, external disturbance and chattering effect.…”

Section: Introductionmentioning

confidence: 99%

Autonomous underwater vehicle precise motion control for target following with model uncertainty

Huang

Zhang

Hongde

et al. 2017

International Journal of Advanced Robotic Systems

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Target following plays an important role in oceanic detection and target capturing for autonomous underwater vehicles. Due to the model nonlinearity and external disturbance, the dynamic model of a portable autonomous underwater vehicle was usually established with parameter uncertainties. In this article, a petri-based recurrent type 2 fuzzy neural network has been built to approximate the unknown autonomous underwater vehicle dynamics. The type 2 fuzzy logic system has been applied to the network to improve the approximation accuracy for systematic nonlinearity, and the petri layer in the network can improve estimation speed and reduce energy consumption. A petri-based recurrent type 2 fuzzy neural network-based adaptive robust controller has been proposed for target tracking. In the offshore experiments, the proposed controller has not only realized stable position and pose control but also successfully followed mobile target on the surface. In the tank underwater experiments, the pipeline target has been successfully followed to further verify the controller performance.

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A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

Cited by 168 publications

References 24 publications

Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties

Fault detection and accommodation of saturated actuators for underactuated surface vessels in the presence of nonlinear uncertainties

Adaptive terminal sliding mode based thruster fault tolerant control for underwater vehicle in time-varying ocean currents

Autonomous underwater vehicle precise motion control for target following with model uncertainty

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