Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane
The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2016/6590517 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832551701170618368 |
|---|---|
| author | Wei Chen Yanhui Wei Jianhui Zeng Han Han Xianqiang Jia |
| author_facet | Wei Chen Yanhui Wei Jianhui Zeng Han Han Xianqiang Jia |
| author_sort | Wei Chen |
| collection | DOAJ |
| description | The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller. |
| format | Article |
| id | doaj-art-c7f82177b8be4c0086f839d3fbb02176 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-c7f82177b8be4c0086f839d3fbb021762025-02-03T06:00:51ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2016-01-01201610.1155/2016/65905176590517Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical PlaneWei Chen0Yanhui Wei1Jianhui Zeng2Han Han3Xianqiang Jia4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaThe depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.http://dx.doi.org/10.1155/2016/6590517 |
| spellingShingle | Wei Chen Yanhui Wei Jianhui Zeng Han Han Xianqiang Jia Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane Discrete Dynamics in Nature and Society |
| title | Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane |
| title_full | Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane |
| title_fullStr | Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane |
| title_full_unstemmed | Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane |
| title_short | Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane |
| title_sort | adaptive terminal sliding mode ndo based control of underactuated auv in vertical plane |
| url | http://dx.doi.org/10.1155/2016/6590517 |
| work_keys_str_mv | AT weichen adaptiveterminalslidingmodendobasedcontrolofunderactuatedauvinverticalplane AT yanhuiwei adaptiveterminalslidingmodendobasedcontrolofunderactuatedauvinverticalplane AT jianhuizeng adaptiveterminalslidingmodendobasedcontrolofunderactuatedauvinverticalplane AT hanhan adaptiveterminalslidingmodendobasedcontrolofunderactuatedauvinverticalplane AT xianqiangjia adaptiveterminalslidingmodendobasedcontrolofunderactuatedauvinverticalplane |