Back-stepping sliding mode control strategy for autonomous underwater glider

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

doi:10.1109/icet.2017.8281729

Cited by 4 publications

(4 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%

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%

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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“…[ 26 ]. (2) SMC has been successfully applied in multiple different fields [ 27 , 28 , 29 , 30 ]. Therefore, SMC is an ideal algorithm that can improve the performance of MFAC method.…”

Section: Introductionmentioning

confidence: 99%

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Li,

Tang,

Zhao

et al. 2024

Sensors

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We propose a data-driven, model-free adaptive sliding mode control (MFASMC) approach to address the Haidou-1 ARV under-actuated motion control problem with uncertainties, including external disturbances and parameter perturbations. Firstly, we analyzed the two main difficulties in the motion control of Haidou-1 ARV. Secondly, in order to address these problems, a MFASMC control method was introduced. It is combined by a model-free adaptive control (MFAC) method and a sliding mode control (SMC) method. The main advantage of the MFAC method is that it relies only on the real-time measurement data of an ARV instead of any mathematical modeling information, and the SMC method guarantees the MFAC method’s fast convergence and low overshooting. The proposed MFASMC control method can maneuver Haidou-1 ARV cruising at the desired forward speed, heading, and depth, even when the dynamic parameters of the ARV vary widely and external disturbances exist. It also addresses the problem of under-actuated motion control for the Haidou-1 ARV. Finally, the simulation results, including comparisons with a PID method and the MFAC method, demonstrate the effectiveness of our proposed method.

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“…Autonomous underwater vehicles (AUVs) perform a variety of operations such as environmental monitoring and mapping [1], infrastructure inspection [2], and defense applications [3]. During these operations, the system faces challenges such as unknown water currents, uncertain hydrodynamics, and intermittent communications [4]. These challenges drive the necessity for robust control systems.…”

Section: Introductionmentioning

confidence: 99%

“…These challenges drive the necessity for robust control systems. Various robust underwater vehicle control methods such as nonlinear model-based control [5][6][7][8], sliding mode control [4,9,10], and passivity-based control [11][12][13] have been developed to account for uncertain discrepancies in the system's control model parameters or measured state. There are also variants of these control methods with adaptive terms for increased robustness to uncertainties and system variations [14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Addressing Actuator Saturation during Fault Compensation in Model-Based Underwater Vehicle Control

Macatangay,

Hoseinnezhad,

Fowler

et al. 2023

Electronics

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Robust control systems are a necessity for autonomous underwater vehicle (AUV) systems due to the challenges they face during operation. Many AUV control-design methods have been developed for different actuator configurations, with robustness against model parameter uncertainties, environmental disturbances, and system faults. Actuator faults can reduce the physical capabilities of a system, which can be compensated for through control re-allocation. However, the increased control allocation to the remaining actuators may cause actuator saturation and reduce controller performance. In this work, we present a depth-pitch model-based nonlinear control law that directly considers actuator saturation, and a fault-tolerant control allocation method for a hybrid AUV actuator configuration. Two types of actuator faults are considered for an underwater vehicle with a hybrid actuator configuration. The proposed controller is implemented in a simulated system, and its trajectory tracking performance is compared with a baseline system without fault or saturation tolerance. To determine the utility of the proposed saturation and fault tolerance control methods, the tracking performance in these simulations is quantified in terms of the settling time, post-fault peak values, and root mean square of the depth and pitch errors.

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Back-stepping sliding mode control strategy for autonomous underwater glider

Cited by 4 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

Under-Actuated Motion Control of Haidou-1 ARV Using Data-Driven, Model-Free Adaptive Sliding Mode Control Method

Addressing Actuator Saturation during Fault Compensation in Model-Based Underwater Vehicle Control

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