Higher Order Sliding Mode Control for Autonomous Underwater Vehicles in the Diving Plane∗∗This work was supported by Conacyt México.

Ruiz‐Duarte, Jorge E.; Loukianov, Alexander G.

doi:10.1016/j.ifacol.2015.10.257

Cited by 11 publications

(9 citation statements)

References 9 publications

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“…To simplify the controller design process, the velocity controller and the altitude controller are designed separately as in [17,18]. In this section, a nonlinear robust adaptive NN altitude controller based on backstepping method is proposed for the variable-sweep aircraft.…”

Section: Altitude Controller Designmentioning

confidence: 99%

Nonlinear robust adaptive NN control for variable-sweep aircraft

Ma¹,

Feng²,

Hu³

et al. 2018

J. vibroeng.

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In this paper, we address the problem of altitude and velocity controllers design for variable-sweep aircraft with model uncertainties. The object is to maintain altitude and velocity during the wing transition process where mass distribution and aerodynamic parameters change significantly. Based on the functional decomposition, the longitudinal dynamics of the aircraft can be divided into altitude subsystem in non-affine pure feedback form and velocity subsystem. And then nonlinear robust adaptive NN velocity controller and altitude controller are designed with backstepping method to relax the prior requirements of aerodynamic parameters accuracy in linear LPV controller design. The method of filtered signal is used to circumvent the algebraic loop problem caused by the dynamics of non-affine pure feedback form. Dynamic surface control (DSC) and minimal learning parameters (MLP) techniques are employed to solve the problems of 'explosion of complexity' in the back-stepping method and the online updated parameters being too much. The robust terms have been introduced to eliminate the influences of approximation errors. According to the Lyapunov-LaSalle invariant set theorem, the semi-global boundedness and convergence of all the signals of the closed-loop system are proved. Simulation results are presented to illustrate the control algorithm with good performance.

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Section: Altitude Controller Designmentioning

confidence: 99%

Nonlinear robust adaptive NN control for variable-sweep aircraft

Ma¹,

Feng²,

Hu³

et al. 2018

J. vibroeng.

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“…On the other hands, for the proposed flight-style control strategy, Z and M are proportional to (26) and (27) respectively.…”

Section: Stability and Convergence Analysismentioning

confidence: 99%

“…Alternatively, sliding mode control (SMC) technique can also be used [23,24]. A downside of this approach is that it is susceptible to chatter; a range of approaches has been developed to overcome this [25,26]. This paper focuses on design, simulation and experimental testing of proportional-integralderivative (PID) based diving control system for over-actuated AUVs that can be used over a wide range of operating speeds with a seamless transition between hover-style and flight-style control.…”

Section: Introductionmentioning

confidence: 99%

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

et al. 2017

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A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation. A system stability and convergence is proven using a Lyapunov-based approach. The performance of the controller is demonstrated by simulation but crucially is proven to provide satisfactory performance experimentally. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified and their impact on cost of transport is highlighted for future optimisation of energy consumption.

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“…The aforementioned controllers have been implemented in order to accomplish tasks as depth control under continuous waves conditions [ 27 , 28 , 29 , 30 ] or the path following adversarial environmental conditions [ 31 ]. Nonetheless, robust control techniques have been adopted in order to improve the behavior of the system, as in [ 32 , 33 , 34 ], where the corresponding authors show the effectiveness of the Sliding Mode Control (SMC) applied over these vehicles, extending the capabilities of the theory to the observation domain [ 35 ]. Moreover, some techniques [ 36 ] consider an iterative identification method to estimate the parameters of the system and the design of the controller at the same time.…”

Section: Introductionmentioning

confidence: 99%

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

Castillo-Zamora

Camarillo‐Gómez

Pérez-Soto

et al. 2021

Sensors

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This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers.

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Higher Order Sliding Mode Control for Autonomous Underwater Vehicles in the Diving Plane∗∗This work was supported by Conacyt México.

Cited by 11 publications

References 9 publications

Nonlinear robust adaptive NN control for variable-sweep aircraft

Nonlinear robust adaptive NN control for variable-sweep aircraft

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation

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