Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Lima, Gabriel da Silva; Trimpe, Sebastian; Bessa, Wallace Moreira

doi:10.1007/s10846-019-01128-5

Cited by 36 publications

(22 citation statements)

References 33 publications

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“…onde dé uma componente de d e εé o sinal ruidoso de média nula e variância σ 2 ε . A escolha pela variável s (equação 6),é por conta dela ser uma variável de erro combinado, ou seja, ser definida como uma combinação linear dos erros de posição angular e suas derivadas, que, quando em baixos valores em módulo, pode ser utilizada para analisar a performance do controlador e possui relação direta com a perturbação (Lima et al, 2020).…”

Section: Processo Gaussiano Aplicado Ao Controlador Smcunclassified

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Controle por Modos Deslizantes com Compensação por Processo Gaussiano para um Manipulador Flexível

Lima

Bessa

2020

Anais Do Congresso Brasileiro De Automática 2020

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Os manipuladores robóticos rígidos tem como desvantagem a necessidade de utilização de atuadores que demandam muita energia. Por essa razão, manipuladores flexíveis são uma opção interessante para substituir os convencionais por possuírem menor peso e precisarem de atuadores que consomem menos energia. Entretanto, o controle desses manipuladores é difícil de ser realizado por conta de sua flexibilidade. Nesse trabalho é proposto a utilização de um controlador por Modos Deslizantes com compensação de incertezas utilizando Regressão por Processo Gaussiano. Um modelo utilizando parâmetros concentrados é utilizado para representar o sistema, no qual o controlador só tem conhecimento dos estados da base e da ponta. Simulações numéricas mostram que o controlador utilizado é eficaz para resolver o problema do rastreamento de trajetória.

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Section: Processo Gaussiano Aplicado Ao Controlador Smcunclassified

“…Contudo, ao invés dessa estratégia de treinamento, utilizamos o método de janela deslizante que permite o compensador aprender gradualmente com o ambiente. Essa estratégia já tem sido utilizada para sistemas atuados no caso do controle de posicionamento de um veículo subaquático Lima et al (2018Lima et al ( , 2020.…”

Section: Introductionunclassified

Controle por Modos Deslizantes com Compensação por Processo Gaussiano para um Manipulador Flexível

Lima

Bessa

2020

Anais Do Congresso Brasileiro De Automática 2020

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“…e control of Unmanned Surface Vehicle (USV) is challenging due to the unpredictable disturbances from the complex ocean environment, the model uncertainties, and the signal tremor caused by the controller [1][2][3]. Among them, the wave disturbance exerted on the unmanned vehicle during the navigation should be paid more attention [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Inertial Gyro Wave Energy Conversion Nonlinear Modeling and Power‐Index Predictive Control for Autonomous Ship

Chen

et al. 2021

Complexity

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The complex marine environment and the high energy consumption of shipboard equipment pose challenges to the long-term navigation of autonomous unmanned ships. In wave-induced motion, inertial gyro antirolling technology is used to offset the energy transmitted by waves, but the massive consumption of energy is not conducive to long-term navigation of the unmanned ships. This paper attempts to exploit the wave energy transmitted by the gyro to improve the power supply of the unmanned ship. Firstly, a nonlinear coupling model of the gyro antirolling device and the unmanned ship is established. Secondly, considering various model constraints and physical constraints of the equipment, the energy evaluation objective function of nonlinear model predictive control (NMPC) is designed. In the simulation, the proposed control method can effectively extract electric energy from different waves.

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“…In order to overcome uncertainties on their system, Bessa et al [24] suggested the combination of sliding mode control and an adaptive neural network to compensate hydrodynamic effects due to fluid-body interaction. However, their main problem is ineffectiveness to obtain the bounds of the estimation error [25].…”

Section: Introductionmentioning

confidence: 99%

Sliding mode control of a line following robot

Yıldız

Can

Özgüney

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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Line following robots have ability to track a given path autonomously using feedback mechanisms. The path is usually a black line on a white surface or a white line on a black surface. Today, line following robots are used in medical, industrial and automotive industries. Therefore, the studies on the line following robots have been increased recently. In this study, a robust, non-chattering sliding mode control (SMC) is designed and applied for a line following robot. The mobile robot is designed to sense the straight or curved path with its infrared sensors mounted on the robot. Therefore, these infrared sensors provide continuous streaming of the defined path to guide or direct changes in robot by activating motors on right wheel or/ and left wheel. The control strategy is curial to track complex paths accurately and to have a fast, stable and accurate line following robot. Thus, for comparison, conventional proportional-integral-derivative (PID) is also applied to robot. The main purpose of this study is to investigate performance of sliding mode control during path tracking. For this, numerical solution and experimental study were carried out. From the results, it was understood that sliding mode controller is highly efficient in tracking the path.

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Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Cited by 36 publications

References 33 publications

Controle por Modos Deslizantes com Compensação por Processo Gaussiano para um Manipulador Flexível

Controle por Modos Deslizantes com Compensação por Processo Gaussiano para um Manipulador Flexível

Inertial Gyro Wave Energy Conversion Nonlinear Modeling and Power‐Index Predictive Control for Autonomous Ship

Sliding mode control of a line following robot

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