SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
Source abstract
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.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Underwater Vehicles and Communication Systems · Teleoperation and Haptic Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Division of Robotics Convergence, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea
School of Mechanical Engineering, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea
SPENALO National Robotics Research Center, Pusan National University, 2, Busandaehak-ro 63beon-gil, Geumjeong-gu, Busan 46241, Korea
Agency for Defense Development, 19, Hyeon-dong, Jinhae-gu, Changwon-si 51678, Gyeongsangnam-do, Korea
Department of Mechanical and Automotive Engineering, Jeonju University, 3, Hyoja-dong 3-ga, Wansan-gu, Jeonju-si 55069, Jeollabuk-do, Korea
Funding
Ministry of Trade, Industry and Energy
References (19)
Show source-provided references
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