Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification
This paper has addressed the terrain-following problem of an autonomous underwater vehicle for widely used ocean survey missions. Considering the terrain feature description with limited sensing ability in underwater scenarios, a vertically installed multi-beam sonar and a downward single-beam echo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-12-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/9/1/15 |
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| author | Zheping Yan Lichao Hao Qiqi Pi Tao Chen |
| author_facet | Zheping Yan Lichao Hao Qiqi Pi Tao Chen |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | This paper has addressed the terrain-following problem of an autonomous underwater vehicle for widely used ocean survey missions. Considering the terrain feature description with limited sensing ability in underwater scenarios, a vertically installed multi-beam sonar and a downward single-beam echo sounder are equipped to obtain seafloor detecting data online, and a local polynomial fitting algorithm is carried out with a receding horizon strategy in order to generate a proper tracking path to keep the desired height above the sea bottom. With the construction of the autonomous underwater vehicle dynamic model in the North East Down frame regarding the vertical plane, an online sparse identification algorithm is implemented to obtain the model parameters during the diving process. Then, a fractional-order sliding mode controller is proposed to enable accurate tracking of the path planned and Lyapunov-based theory is utilized to prove the stability of the control algorithm. With the simulation results, the tracking effectiveness of the fractional-order sliding mode controller with in situ identification is verified. |
| format | Article |
| id | doaj-art-3b91351106234b5daef76ec05a57e51f |
| institution | Kabale University |
| issn | 2504-3110 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj-art-3b91351106234b5daef76ec05a57e51f2025-01-24T13:33:22ZengMDPI AGFractal and Fractional2504-31102024-12-01911510.3390/fractalfract9010015Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse IdentificationZheping Yan0Lichao Hao1Qiqi Pi2Tao Chen3College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaThis paper has addressed the terrain-following problem of an autonomous underwater vehicle for widely used ocean survey missions. Considering the terrain feature description with limited sensing ability in underwater scenarios, a vertically installed multi-beam sonar and a downward single-beam echo sounder are equipped to obtain seafloor detecting data online, and a local polynomial fitting algorithm is carried out with a receding horizon strategy in order to generate a proper tracking path to keep the desired height above the sea bottom. With the construction of the autonomous underwater vehicle dynamic model in the North East Down frame regarding the vertical plane, an online sparse identification algorithm is implemented to obtain the model parameters during the diving process. Then, a fractional-order sliding mode controller is proposed to enable accurate tracking of the path planned and Lyapunov-based theory is utilized to prove the stability of the control algorithm. With the simulation results, the tracking effectiveness of the fractional-order sliding mode controller with in situ identification is verified.https://www.mdpi.com/2504-3110/9/1/15autonomous underwater vehicleterrain following controlfractional order sliding mode controlonline system identificationpolynomial fitting |
| spellingShingle | Zheping Yan Lichao Hao Qiqi Pi Tao Chen Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification Fractal and Fractional autonomous underwater vehicle terrain following control fractional order sliding mode control online system identification polynomial fitting |
| title | Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification |
| title_full | Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification |
| title_fullStr | Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification |
| title_full_unstemmed | Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification |
| title_short | Fractional-Order Sliding Mode Terrain-Tracking Control of Autonomous Underwater Vehicle with Sparse Identification |
| title_sort | fractional order sliding mode terrain tracking control of autonomous underwater vehicle with sparse identification |
| topic | autonomous underwater vehicle terrain following control fractional order sliding mode control online system identification polynomial fitting |
| url | https://www.mdpi.com/2504-3110/9/1/15 |
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