Dynamic Sliding Mode Control Based on Multi-Model Switching Laws for the Depth Control of an Autonomous Underwater Vehicle

Abstract

This manuscript presents an improved control algorithm, called Dynamic Sliding Mode Control based on Multiple Models Switching Laws (DSMC-MMSL), for the control of the depth of the studied Autonomous Underwater Vehicle (AUV) system, the diving plane controller of which faces disturbances arising from the coupled states. The diving plane model is strongly coupled with the state variables, such as surge speeds and course angles. To achieve the desired dynamic performance, the proposed algorithm consists of two parts: the diving plane control part and the pitch control part, which is used to avoid large pitch angles. Some direct switching control laws are used for the two parts to avoid some impulse phenomena on the control executions. The error-states exponential decay is recommended to eliminate the chattering on the sliding surface. The DSMC-MMSL controller was successfully implemented and experimentally validated with the studied AUV system designed and built by Shenyang Institute of Automation. The results of some lake trials demonstrated that the depth control performances of the AUV system were as desired, and that the AUV system was robust enough for the coupled state variables under the DSMC-MMSL algorithm control.

Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays

“…In [3], an integral SMC with a time delay estimator has been proposed for an AUVs to cope with the slow data acquisition process and the external disturbances. Dynamic SMC based on the multiple model switching laws has been proposed and implemented in [16] for the depth control of an AUV. In [17], a SMC based on a back-stepping algorithm is proposed to enhance the fault tolerance and the robustness to the external disturbances.…”

Adaptive fuzzy depth control with trajectory feedforward compensator for autonomous underwater vehicles

“…There were many research results on the depth control of AUVs. Many research works were conducted for controlling AUVs with different techniques such as adaptive control, 1,2 sliding mode control, 1,3,4 fuzzy control, [5][6][7] artificial network control, 8,9 and indirect robust control. 10 Nag et al 11 proposed H N controller, which considers the uncertainties in hydrodynamic parameters due to altered operating conditions and also provides an appropriate control mode for desired setpoint tracking and interference suppression.…”

Design and experimental realization of a backstepping nonlinear H∞ control for an autonomous underwater vehicle using a nonlinear matrix inequality approach

“…During the past few decades, several diving control algorithms have been developed for AUVs. Research articles such as those by Cristi et al (1990), Hong et al (2010), Joe et al (2014), Yan et al (2016) and Zhou et al (2015) explore various sliding mode control (SMC) algorithms for the diving motion of AUVs. In Cristi et al (1990), a combination of an adaptive controller with a robust SMC was described.…”

“…Nevertheless, this fails to ensure the internal stability of the closed-loop system. Furthermore, the design of a switching-based SMC for depth control is proposed in Zhou et al (2015), but the robust behaviour of the control algorithm towards parameter uncertainties and external disturbances is not considered. Some extensive studies on adaptive backstepping techniques (Cao et al, 2011; Lapierre, 2009; Li and Lee, 2005) and different H ∞ control techniques (Liceaga-Castro and van der Molen, 1995; Moreira and Soares, 2008) are attempted for the diving motion of AUVs.…”