Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

Guo, Jenhwa; Chiu, Fu-Chun; Huang, Chun-Jen

doi:10.1016/s0029-8018(03)00048-9

Cited by 103 publications

(50 citation statements)

References 16 publications

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“…For the waypoint tracking of UUVs with the cruciform stern, several design methodologies have been introduced in the literatures, such as sliding model control [1,2], model predictive control [3], backstepping technique [4][5][6], linear matrix inequality (LMI)-based design approach [7]. However, contrary to various research efforts in the case of the cruciform stern, there is a lack of control studies on UUVs with X-stern regardless of the improved control effectiveness of large diameter UUVs (LDUUVs) [8].…”

Section: Introductionmentioning

confidence: 99%

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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-This paper focuses on a horizontal waypoint tracking and a speed control of large diameter unmanned underwater vehicles (LDUUVs) with X-stern configuration plane. The concerned design problem is converted into an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. It is proved that the error dynamics under the proposed control scheme based on the linear control and the feedback linearization can be considered as a cascade system; the cascade system is asymptotically stable if its nominal systems are so. This stability connection enables to separately deal with the waypoint tracking problem and the speed control one. By using the sector nonlinearity, the nominal system with nonlinearities is modeled as a polytopic linear parameter varying (LPV) system with parametric uncertainties. Then, sufficient linear matrix inequality (LMI) conditions for its asymptotic stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to show the validity of the proposed methodology.

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Section: Introductionmentioning

confidence: 99%

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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“…The approach was refined in Caccia and Veruggio (2000). A similar MCS by Guo et al (2003), conceived to control the motion of AUVs, employs a sliding mode fuzzy algorithm in place of the Lyapunov-based algorithm. Dukan (2014) proposed a spatial LoS guidance strategy dedicated to guide fully actuated ROVs.…”

Section: Introductionmentioning

confidence: 99%

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Fernandes¹,

Sørensen²,

Donha³

2015

MIC

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This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A reference model that synthesises references concerning a single Degree-of-Freedom (DoF) motion is initially described. Then, the use of the synthesised references as the parametrisation for other references concerning multiple DoF motion along curvature-continuous paths is exploited. Results from computer simulations and full-scale sea trials, both based on the NTNU's ROV Minerva, are presented and discussed.Keywords: Guidance system, Path generation, Reference model, ROV, Trajectory tracking. List of acronyms and abbreviations

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“…Even though the fuzzy logic schemes are robust controllers for nonlinear processes, it is very difficult to guarantee the stability of the control system especially with the linguistic expression and large number of fuzzy rules (Guo, 2003).…”

Section: Introductionmentioning

confidence: 99%

Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transient

Chinte¹,

Abu-Ayyad²,

Dubay³

2014

International Journal of Automation and Control Engineering

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This paper proposes an improved self-tuning sliding mode control for nonlinear uncertain systems. The proposed approach is based on the principle of approximating the gradient of cost-to-go using the dynamics of the sliding variable and a modified error. Validity of the proposed control design is established through Lyapunov analysis. The effectiveness of the proposed control design with fast transient response was demonstrated on a second order and 2-joint robot manipulator nonlinear systems with uncertainties. The results showed that the robustness of the method is guaranteed and the system arrived at the sliding manifold rapidly.

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Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle

Cited by 103 publications

References 16 publications

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Path Generation for High-Performance Motion of ROVs Based on a Reference Model

Robust Sliding Mode Controller for Uncertain Nonlinear Systems with Fast Transient

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