Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivativ...
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Shahrood University of Technology
2019-07-01
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doaj-d81de08e3a994c7b92c97733e53077082020-11-24T21:52:55ZengShahrood University of TechnologyJournal of Artificial Intelligence and Data Mining2322-52112322-44442019-07-017347548610.22044/jadm.2018.6787.17951454Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal PlaneN. Zendehdel0S. J. Sadati1A. Ranjbar Noei2Faculty of electrical and computer engineering, Babol Noshirvani University of Technology, Babol, Mazandaran, Iran.Faculty of electrical and computer engineering, Babol Noshirvani University of Technology, Babol, Mazandaran, Iran.Faculty of electrical and computer engineering, Babol Noshirvani University of Technology, Babol, Mazandaran, Iran.This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive law, which is independent upon the knowledge of disturbance boundary limit and its derivative. The approach tends to play a significant role to reduce the chattering effect which is prevalent in conventional sliding mode controllers. To guarantee the stability of the proposed control technique, the Lyapunov theory is used. Simulation results illustrate the validity of the proposed control scheme compared to the finite-time tracking control method.http://jad.shahroodut.ac.ir/article_1454_444ec443e23ef93a644902f90577b0cb.pdfautonomous underwater vehicle (auv)trajectory trackingadaptive controlsliding mode controlplanar motion |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
N. Zendehdel S. J. Sadati A. Ranjbar Noei |
spellingShingle |
N. Zendehdel S. J. Sadati A. Ranjbar Noei Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane Journal of Artificial Intelligence and Data Mining autonomous underwater vehicle (auv) trajectory tracking adaptive control sliding mode control planar motion |
author_facet |
N. Zendehdel S. J. Sadati A. Ranjbar Noei |
author_sort |
N. Zendehdel |
title |
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane |
title_short |
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane |
title_full |
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane |
title_fullStr |
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane |
title_full_unstemmed |
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane |
title_sort |
adaptive robust control for trajectory tracking of autonomous underwater vehicles on horizontal plane |
publisher |
Shahrood University of Technology |
series |
Journal of Artificial Intelligence and Data Mining |
issn |
2322-5211 2322-4444 |
publishDate |
2019-07-01 |
description |
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive law, which is independent upon the knowledge of disturbance boundary limit and its derivative. The approach tends to play a significant role to reduce the chattering effect which is prevalent in conventional sliding mode controllers. To guarantee the stability of the proposed control technique, the Lyapunov theory is used. Simulation results illustrate the validity of the proposed control scheme compared to the finite-time tracking control method. |
topic |
autonomous underwater vehicle (auv) trajectory tracking adaptive control sliding mode control planar motion |
url |
http://jad.shahroodut.ac.ir/article_1454_444ec443e23ef93a644902f90577b0cb.pdf |
work_keys_str_mv |
AT nzendehdel adaptiverobustcontrolfortrajectorytrackingofautonomousunderwatervehiclesonhorizontalplane AT sjsadati adaptiverobustcontrolfortrajectorytrackingofautonomousunderwatervehiclesonhorizontalplane AT aranjbarnoei adaptiverobustcontrolfortrajectorytrackingofautonomousunderwatervehiclesonhorizontalplane |
_version_ |
1725874078200365056 |