Adaptive control with decoupling algorithm for the hovering submarines

Yang, Yongpeng; Hao, Yue

doi:10.1109/icinfa.2010.5512100

Cited by 4 publications

(2 citation statements)

References 5 publications

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“…Theorem 1. If v i are the roots of the polynomial equation (12) and n is the same notation as defined in equation (13). v Ã = maxfjv i j, P(v i ) = 0, v i \ 0, i = 1, 2, .…”

Section: Time-variant Smcmentioning

confidence: 99%

“…Adaptive control is applied for AUV in many literature. 6–14 In Santhakumar and Kim, 15 an indirect adaptive control was developed based on extended Kalman filter (EKF) which provided a generalized framework for indirect adaptive control which considered the dynamic coupling between the vehicle and the manipulator. External disturbances were estimated using EKF.…”

Section: Introductionmentioning

confidence: 99%

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A new hybrid robust sliding mode control for an underwater vehicle in dive plane

Yarahmadi

Sereshki

2019

Measurement and Control

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In this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via [Formula: see text] method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-variant rejection parameter, and the other control signal is designed based on [Formula: see text] control approach. The underwater vehicle dynamics are nonlinear uncertain dynamical equation with unknown external disturbances. Therefore, in this paper, an observation of the external disturbance with a time-variant gain parameter is designed. The proposed method eliminates the effects of uncertainties and chattering phenomenon. Also, the time-variant sliding function filters all the unmodeled frequencies and external noises, such as a chain of [Formula: see text] first-order adaptive low-pass filters. A new theorem, for facilitating the presented method, is proved. Finally, two examples for demonstrating the advantages of the proposed method are simulated.

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“…Theorem 1. If v i are the roots of the polynomial equation (12) and n is the same notation as defined in equation (13). v Ã = maxfjv i j, P(v i ) = 0, v i \ 0, i = 1, 2, .…”

Section: Time-variant Smcmentioning

confidence: 99%