Back-stepping integral sliding mode control (BISMC) application in a nonlinear autonomous underwater glider

Mat-Noh, Maziyah; Arshad, Mohd Rizal; Mohd‐Mokhtar, Rosmiwati; Khan, Qudrat

doi:10.1109/usys.2017.8309448

Cited by 2 publications

(3 citation statements)

References 12 publications

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“…However, in this paper the derivation of control law only shown for BISMC. The detail derivation is ISMC and BSMC can be found in [24,25]. All the controllers are designed for the flight path angle from 10º downward to 10º upward.…”

Section: Controller Designmentioning

confidence: 99%

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Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control

Mat-Noh

Arshad

Mohd‐Mokhtar

2021

Lecture Notes in Electrical Engineering

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This paper presents the development of nonlinear robust control based on backstepping and sliding mode control system to control a longitudinal plane of a new concept of airship. Nature of autonomous airship is non-rigid body, very nonlinear and therefore control strategy can be used to accommodate the nonlinearities in the airship model. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation to evaluate its robustness against external disturbance and parameter variations. The controller is designed for the gliding path from 10°downward to 10°upward. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance around 25% better as compared to lowest performance of integral sliding mode and the undesired chattering in control input and sliding surface has been reduced almost 100%.

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Section: Controller Designmentioning

confidence: 99%

“…Theorem Consider the nonlinear systems in Eqs. (30) and(24) subjected to bounded uncertainty in Eq (15). with Assumptions 1 and 2.…”

mentioning

confidence: 99%

Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control

Mat-Noh

Arshad

Mohd‐Mokhtar

2021

Lecture Notes in Electrical Engineering

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“…In one study, the switching term of SMC was tuned using extreme learning machine (ELM) [6]. In another study, a combination of method consisting of backstepping and SMC are used to control an autonomous underwater glider [7]. In addition, this combination of method has been used on an AUV with a neural network added on top of the controller to tune SMC switching term [8].…”

Section: Introductionmentioning

confidence: 99%

Highly responsive heading control of underactuated modified BlueROV using sliding-mode controller

2019

Synergy of Automation, IoT &Amp; AI

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The control of Autonomous Underwater Vehicle (AUV) presents some challenging tasks such as dealing with the nonlinearity of AUV dynamics, coupling effects, and taking into consideration the hydrodynamics uncertainties and disturbances such as current. One of the more robust control method for controlling a nonlinear system is Sliding-Mode Control (SMC). In literature, SMC had been used to control the depth and yaw of an underactuated AUV. However, the switching term of the SMC had to be tuned to get a proper balance between performance and robustness and it has low responsiveness to track desired reference signal. This paper introduces the usage of smoothing filter to make the SMC more responsive to track desired heading motion. The methodology starts with deriving heading model of an AUV, then estimating the parameters in the AUV model, followed by designing the heading controller based on SMC, and finally optimizing the controller parameters. The design model is based on underactuated modified BlueROV. Results shown that when the reference heading signal is smoothed, the SMC is able to achieve 95.55% responsiveness compared to only just 78.05% responsiveness without smoothing. The thrusts produced by the AUV is also less strained when the smoothing filter is applied. Therefore, to get a highly responsive SMC and to preserve the longevity of the thrusters of an AUV, a smoothing filter had to be considered in controller design of an underactuated AUV.

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Back-stepping integral sliding mode control (BISMC) application in a nonlinear autonomous underwater glider

Cited by 2 publications

References 12 publications

Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control

Robust Nonlinear Control of a Buoyancy-Driven Airship System Using Backstepping Integral Sliding Mode Control

Highly responsive heading control of underactuated modified BlueROV using sliding-mode controller

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