SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances

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 contr...

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Autores principales:	Hyun-Hee Kim, Min Cheol Lee, Hyeon-Jin Cho, Jun-Ho Hwang, Jong-Seob Won
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	autonomous underwater vehicle sliding mode control with sliding perturbation observer PID control MATLAB simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/f88a73d51b7b4a98aed9943418962c60
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id	oai:doaj.org-article:f88a73d51b7b4a98aed9943418962c60
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spelling	oai:doaj.org-article:f88a73d51b7b4a98aed9943418962c602021-11-25T16:42:24ZSMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances10.3390/app1122109782076-3417https://doaj.org/article/f88a73d51b7b4a98aed9943418962c602021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/22/10978https://doaj.org/toc/2076-3417In 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.Hyun-Hee KimMin Cheol LeeHyeon-Jin ChoJun-Ho HwangJong-Seob WonMDPI AGarticleautonomous underwater vehiclesliding mode control with sliding perturbation observerPID controlMATLAB simulationTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10978, p 10978 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	autonomous underwater vehicle sliding mode control with sliding perturbation observer PID control MATLAB simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	autonomous underwater vehicle sliding mode control with sliding perturbation observer PID control MATLAB simulation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Hyun-Hee Kim Min Cheol Lee Hyeon-Jin Cho Jun-Ho Hwang Jong-Seob Won SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
description	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.
format	article
author	Hyun-Hee Kim Min Cheol Lee Hyeon-Jin Cho Jun-Ho Hwang Jong-Seob Won
author_facet	Hyun-Hee Kim Min Cheol Lee Hyeon-Jin Cho Jun-Ho Hwang Jong-Seob Won
author_sort	Hyun-Hee Kim
title	SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
title_short	SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
title_full	SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
title_fullStr	SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
title_full_unstemmed	SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances
title_sort	smcspo-based robust control of auv in underwater environments including disturbances
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/f88a73d51b7b4a98aed9943418962c60
work_keys_str_mv	AT hyunheekim smcspobasedrobustcontrolofauvinunderwaterenvironmentsincludingdisturbances AT mincheollee smcspobasedrobustcontrolofauvinunderwaterenvironmentsincludingdisturbances AT hyeonjincho smcspobasedrobustcontrolofauvinunderwaterenvironmentsincludingdisturbances AT junhohwang smcspobasedrobustcontrolofauvinunderwaterenvironmentsincludingdisturbances AT jongseobwon smcspobasedrobustcontrolofauvinunderwaterenvironmentsincludingdisturbances
_version_	1718413054585077760

SMCSPO-Based Robust Control of AUV in Underwater Environments including Disturbances

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