Trajectory Tracking Control of Remotely Operated Vehicles via a Fast-Sliding Mode Controller with a Fixed-Time Disturbance Observer
Source abstract
Abstract
Time-varying nonlinear external disturbances, as well as uncertainties in model and hydrodynamic parameters, make remotely operated vehicles (ROVs) trajectory tracking control complex and difficult. To solve this problem, this paper proposes a fast sliding mode controller with a fixed-time disturbance observer (FSMC-FDO), which consists of a sliding mode controller based on a fast reaching law and a novel fixed-time disturbance observer. The FSMC can solve the contradiction between system response time and chatter amplitude in sliding mode control. The FDO can compensate for time-varying external disturbances. The Lyapunov theory is used to prove the stability of the entire control scheme. Simulation results show that FSMC-FDO exhibits a good trajectory tracking performance with a better robustness than the conventional sliding mode control (CSMC) on the basis of exponential reaching law (ERL), while significantly reducing chatter.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vehicle Dynamics and Control Systems · Control and Dynamics of Mobile Robots · Traffic control and management
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Electronic Engineering, Xi’an Shiyou University, Xi’an 710065, China
References (31)
Show source-provided references
1. Advancements in the Field of Autonomous Underwater Vehicle10.1016/j.oceaneng.2019.04.011 ↗
2. Challenges and Future Trends in Marine Robotics10.1016/j.arcontrol.2018.10.002 ↗
3. Integral Sliding Mode Controller for Precise Manoeuvring of Autonomous Underwater Vehicle in the Presence of Unknown Environmental Disturbances10.1080/00207179.2015.1031182 ↗
4. Decoupled PD Set-Point Controller for Underwater Vehicles10.1016/j.oceaneng.2009.02.003 ↗
5. Radmehr, N., Kharrati, H., and Bayati, N. (2015, January 26–28). Optimized Design of Fractional-Order PID Controllers for Autonomous Underwater Vehicle Using Genetic Algorithm. Proceedings of the 2015 9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey.10.1109/ELECO.2015.7394518 ↗
6. Saturation Based Nonlinear PID Control for Underwater Vehicles: Design, Stability Analysis and Experiments10.1016/j.mechatronics.2019.06.006 ↗
7. Sliding Mode Control with Gaussian Process Regression for Underwater Robots10.1007/s10846-019-01128-5 ↗
8. Control for Dynamic Positioning and Way-Point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control10.1007/s10846-018-0830-8 ↗
9. Experimental Study of Command Governor Adaptive Control for Unmanned Underwater Vehicles10.1109/TCST.2017.2757021 ↗
10. Three-Dimensional Neural Network Tracking Control of a Moving Target by Underactuated Autonomous Underwater Vehicles10.1007/s00521-017-3085-6 ↗
11. Path Following of an Underactuated AUV Based on Fuzzy Backstepping Sliding Mode Control10.5772/64065 ↗
12. Fractional Sliding Mode Control of Underwater ROVs Subject to Non-Differentiable Disturbances10.1007/s12555-015-0210-0 ↗
13. Design and Analysis of a New AUV’s Sliding Control System Based on Dynamic Boundary Layer10.3901/CJME.2013.01.035 ↗
14. Composite Sliding Mode Speed Control for Sinusoidal Doubly Salient Electromagnetic Machine Drives Using Fast-reaching Law and Disturbance Compensation10.1109/TIE.2022.3201307 ↗
15. Event-Triggered Integral Sliding Mode Fixed Time Control for Trajectory Tracking of Autonomous Underwater Vehicle10.1177/0142331221994380 ↗
16. Sakiyama, J., and Motoi, N. (2018, January 21–23). Position and Attitude Control Method Using Disturbance Observer for Station Keeping in Underwater Vehicle. Proceedings of the IECON 2018—44th Annual Conference of the IEEE Industrial Electronics Society, Washington, DC, USA.10.1109/IECON.2018.8591108 ↗
17. Performance-Guaranteed Fractional-Order Sliding Mode Control for Underactuated Autonomous Underwater Vehicle Trajectory Tracking with a Disturbance Observer10.1016/j.oceaneng.2022.112330 ↗
18. Fixed-Time Sliding Mode Tracking Control for Autonomous Underwater Vehicles10.1016/j.apor.2021.102928 ↗
19. Disturbance Observer Based Nonsingular Fast Terminal Sliding Mode Control of Underactuated AUV10.1016/j.oceaneng.2023.114553 ↗
20. Disturbance Observer-Based Fuzzy Adapted S-Surface Controller for Spatial Trajectory Tracking of Autonomous Underwater Vehicle10.1109/TIV.2019.2938082 ↗
21. Takeoff and Landing Control of a Hybrid Aerial Underwater Vehicle on Disturbed Water’s Surface10.1109/JOE.2021.3124515 ↗
22. Robust Fixed-Time Tracking Control for Underactuated AUVs Based on Fixed-Time Disturbance Observer10.1016/j.oceaneng.2022.112567 ↗
23. Adaptive Disturbance Observer for Trajectory Tracking Control of Underwater Vehicles10.1016/j.oceaneng.2020.107080 ↗
24. Sun, B., and Zhu, D. (2011, January 23–25). A Chattering-Free Sliding-Mode Control Design and Simulation of Remotely Operated Vehicles. Proceedings of the 2011 Chinese Control and Decision Conference (CCDC), Mianyang, China.10.1109/CCDC.2011.5968958 ↗
25. Precise Trajectory Control for an Inspection Class ROVs10.1016/j.oceaneng.2015.08.061 ↗
26. Double-Loop Sliding Mode Controller with a Novel Switching Term for the Trajectory Tracking of Work-Class ROVs10.1016/j.oceaneng.2019.02.043 ↗
27. A Chattering-Free Sliding-Mode Controller for Underwater Vehicles with Fault-Tolerant Infinity-Norm Thrust Allocation10.1016/j.oceaneng.2008.07.013 ↗
28. Vu, Q.V., Dinh, T.A., Nguyen, T.V., Tran, H.V., Le, H.X., Pham, H.V., Kim, T.D., and Nguyen, L. (2021). An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles. Electronics, 10.10.3390/electronics10182316 ↗
29. Model Reference Adaptive Control with L1+α Tracking10.1080/00207179608921661 ↗
30. Performance Enhanced Model Reference Adaptive Control through Switching Non-Quadratic Lyapunov Functions10.1016/j.sysconle.2014.12.001 ↗
31. A Novel Adaptive Backstepping Sliding Mode Control for a Lightweight Autonomous Underwater Vehicle with Input Saturation10.1016/j.oceaneng.2022.112362 ↗