Abstract
This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller.
Highlights
Autonomous Underwater Vehicle (AUV) has shown popularity for three decades due to its versatility and excellent performance which is increasingly being used in many industries [1]
The work reported in the literature addresses, the majority of the Sliding Mode Control (SMC) application on AUV is in continuous time point of view but their effectiveness in real situations cannot be guaranteed [13]
According to Fossen [29], general motion of AUV can be described by using Body-Fixed Reference frame (BFF) and earth-fixed frame (EFF)
Summary
Autonomous Underwater Vehicle (AUV) has shown popularity for three decades due to its versatility and excellent performance which is increasingly being used in many industries [1]. The work reported in the literature addresses, the majority of the SMC application on AUV is in continuous time point of view but their effectiveness in real situations cannot be guaranteed [13]. This is because, all of these systems are operated on the discrete time domain in practice with utilization on digital computers or microprocessors, continuous time control cannot be implemented [13]. Research in discrete-time controller designed has started by Dote and Hoft [20] that introduced reaching condition.
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