An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles

Sun, Bing; Zhu, Daqi; Li, Weichong

doi:10.1109/control.2012.6334705

Cited by 13 publications

(5 citation statements)

References 17 publications

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“…Tn the simulations, the physical and suitable control parameters of an AUV [14] are given as m=IOkg, I� =30kg·m 2 Fig. 3.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties

Karkoub

2014

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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In this study, the hierarchical backstepping control (HBC) is used for the trajectory-tracking of autonomous underwater vehicles (AUV) subject to uncertainties (e.g., current disturbances). The proposed HBC utilizes hierarchical structures of the backstepping control based on the kinematic and dynamic models such that both the virtual velocity control and trajectory-tracking of the AUV lead to asymptotic stability. The robustness of the proposed control technique is demonstrated via injection of uncertainties into the closed-loop model. The overall closed-loop stability of the proposed control scheme is guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. Finally, the feasibility and effectiveness of the proposed scheme are evaluated through computer simulations.

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“…Tn the simulations, the physical and suitable control parameters of an AUV [14] are given as m=IOkg, I� =30kg·m 2 Fig. 3.…”

Section: Simulation Results and Discussionmentioning

confidence: 99%

Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties

Karkoub

2014

2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)

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“…HSMC control is a good solution for nonlinear systems [15,16]. Nevertheless, it has the potential to induce high-frequency oscillations, impacting the actuators, dissipating energy, and generating wing oscillations in the AUV, consequently resulting in instability [17,18]. Therefore, the evaluation to obtain solutions for specific cases is necessary.…”

Section: Introductionmentioning

confidence: 99%

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

Vu,

Bui,

Dang

et al. 2024

IJTDI

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Underwater vehicles are now mainly researched using the 6-DOF equations of motion. The research on 4-DOF Autonomous Underwater Vehicles (AUV) for small Underwater Vehicles regularly focuses on fully actuated control algorithms. Research on underactuated systems has been conducted frequently for surface ships, while 4-DOF underactuated AUV using a nonlinear control system has received little attention. Little research focuses on devices with quadrotor UAV configuration, also known as QUV, but evaluations have yet to be conducted to advise on which controller to use for different cases. Therefore, in this article, the authors focus on building a control algorithm for an AUV object that lacks a typical recursive executive structure, which is the Backstepping controller when dividing the 4-order strict backpropagation nonlinear system into subsystems to design feedback controllers and Lyapunov control functions for each subsystem. Using this same approach, the authors built a controller that combines Backstepping controller and Hierarchical Sliding Mode Controller (HSMC). This is the guiding premise for research on improving the quality of 4-DOF AUV control before comparing and evaluating the two controllers for specific cases. Newly proposed algorithms and stability analyses are based on Lyapunov's theory, and an evaluation survey is carried out through simulation by Matlab software.

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“…Intelligent methods based on fuzzy logic have been deployed to reduce the effect of chattering in SMC [16], [17], with an increased complexity in controller design. Combined backstepping and SMC was proposed in [18]- [20], where backstepping is used to compute a virtual control law and SMC is employed to improve the overall robustness of the control system. In the context of backstepping SMC [21], unknown thrust dynamics was estimated using a recurrent neural network.…”

Section: Introductionmentioning

confidence: 99%

A Velocity Form Model Predictive Control of an Autonomous Underwater Vehicle

Jimoh,

Yue

2024

Preprint

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This work presents a model predictive control (MPC) scheme to achieve three-dimensional (3D) tracking control and point stabilisation of an autonomous underwater vehicle (AUV) subject to environmental disturbances. The AUV is modelled as a coupled, nonlinear system. The control scheme is developed using a linear parameter-varying (LPV) formulation of the nonlinear model in velocity form to obtain an optimisation control problem with efficient online solvers and does not require model augmentation that can potentially increase computational efforts. The control strategy inherently provides offset-free control when tracking piece-wise constant reference signals, ensures feasibility for trajectories containing unreachable points and is relatively simple to implement since parameterisation of all equilibria is not required. A simple switching law is proposed for task switching between the 3D trajectory tracking and point stabilisation. The MPC is designed to ensure closed-loop stability of the vehicle in both motion control tasks via the imposition of terminal constraints. Through simulations of the coupled nonlinear Naminow-D AUV under ocean current and wave disturbances, the effectiveness of the control strategy in trajectory tracking and point stabilisation is demonstrated.

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An integrated backstepping and sliding mode tracking control algorithm for unmanned underwater vehicles

Cited by 13 publications

References 17 publications

Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties

Hierarchical backstepping control for trajectory-tracking of autonomous underwater vehicles subject to uncertainties

Recursion Based Control and Separation Sliding Manifold Based Control of Under-Actuated 4-DOF Autonomous

A Velocity Form Model Predictive Control of an Autonomous Underwater Vehicle

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