Abstract
In the underwater environment, robust control algorithms are required to control autonomous underwater vehicles (AUVs) at high speed while preventing large nonlinearities and disturbances. Sliding mode control (SMC) is a well-known robust control theory and has been widely used not only in AUV control but also in systems such as industrial robots which have high nonlinearity in their system dynamics. However, SMC has the disadvantage of causing chattering on the control input, and it is difficult to apply this method to the control fins of an AUV system that cannot move its fins at high speed underwater. In this work, a design for a sliding mode control with sliding perturbation observer (SMCSPO) algorithm is applied to AUVs, and the simulation results under underwater disturbance conditions are discussed. From simulation using MATLAB, it is confirmed that AUV control using SMCSPO shows better trajectory tracking control performance without chattering than PID control.
Highlights
An autonomous underwater vehicle (AUV) is a robot that autonomously explores underwater environments without an operator’s control
It is confirmed that the results using sliding mode control with sliding perturbation observer (SMCSPO) are superior to those using PID control, and the results show that the vehicle is stably controlled without chattering
An SMCSPO controller is designed for the robust control of an underwater vehicle in an underwater disturbance environment
Summary
An autonomous underwater vehicle (AUV) is a robot that autonomously explores underwater environments without an operator’s control. The SMC algorithm is a robust control theory that has been studied for AUV control in an underwater environment with strong nonlinearities and disturbances [3,4,5,6]. The magnitude of SMC control input can be reduced by compensating the estimated terms This method significantly reduces chattering in strong nonlinear systems by reducing the high switching gain of the SMC. In surgical robot [8,9,10], hydraulic servo system [11,12,13,14], robot manipulator [15,16], and hot rolling simulator [17] areas, SMCSPO estimated the assumed uncertainties and disturbances of the system and showed better control performance than SMC. An SMCSPO controller for AUVs is designed to increase the robustness of the orientation control of the vehicle, and its control performance is evaluated.
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