scholarly journals Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification

2017 ◽  
Vol 35 (3) ◽  
pp. 396-415 ◽  
Author(s):  
Kantapon Tanakitkorn ◽  
Philip A. Wilson ◽  
Stephen R. Turnock ◽  
Alexander B. Phillips
Keyword(s):  
Experimental Verification ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Heading Control

Event-triggered integral sliding mode fixed time control for trajectory tracking of autonomous underwater vehicle

2021 ◽  
pp. 014233122199438
Author(s):  
Bo Su ◽  
Hongbin Wang ◽  
Ning Li
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Fixed Time ◽  
Underwater Vehicle ◽  
Reference Trajectory ◽  
Integral Sliding Mode ◽  
Time Control ◽  
Event Triggered

In this paper, an event-triggered integral sliding mode fixed-time control method for trajectory tracking problem of autonomous underwater vehicle (AUV) with disturbance is investigated. Initially, the global fixed time stability is ensured with conventional periodic sampling method for reference trajectory tracking. By introducing fixed time integral sliding mode manifold, fixed time control strategy is expressed for the AUV, which can effectively eliminate the singularity. Correspondingly, in order to reduce the damage caused by chattering phenomenon, an adaptive fixed-time method is proposed based on the designed continuous integral terminal sliding mode (ITSM) to ensure that the trajectory tracking for AUV is achieved in fixed-time with external disturbance. In order to reduce resource consumption in the process of transmission network, the event-triggered sliding mode control strategy is designed which condition is triggered by an event. Also, Zeno behavior is avoided by proof of theoretical. It is shown that the upper bounds of settling time are only dependent on the parameters of controller. Theoretical analysis and simulation experiment results show that the presented methods can realize the control object.

scholarly journals Autonomous Underwater Vehicle Robust Path Tracking: Auto-Adjustable Gain High Order Sliding Mode Controller

2018 ◽  
Vol 51 (13) ◽  
pp. 161-166 ◽  
Author(s):  
J. Guerrero ◽  
E. Antonio ◽  
A. Manzanilla ◽  
J. Torres ◽  
R. Lozano
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Path Tracking ◽  
High Order ◽  
Sliding Mode Controller

Fuzzy Sliding Mode with Region Tracking Control for Autonomous Underwater Vehicle

2015 ◽  
Vol 72 (2) ◽  
Author(s):  
Mohd Bazli Mohd Mokhar ◽  
Zool Hilmi Ismail
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Fuzzy Sliding Mode Control ◽  
Signum Function ◽  
Fuzzy Sliding Mode ◽  
Region Tracking ◽  
Chattering Effect

This paper presents fuzzy sliding mode control with region tracking control for a single autonomous underwater vehicle. The vehicle is needed to track a certain moving region whilst under the influence of wave current. The fuzzy logic is used to tune the gain and to reduce the effect of chattering effect, the signum function is replaced by saturation function. Simulation result is presented to demonstrate the performance of the proposed tracking control of the AUV.            

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