ADAPTIVE TERMINAL SLIDING MODE BASED SENSORLESS SPEED CONTROL FOR UNDERWATER THRUSTER

Zhenzhong Chu, Daqi Zhu and Simon X. Yang

References

  1. [1] M. Yan, D. Zhu, and S.X. Yang, A novel 3-D bio-inspired neuralnetwork model for the path planning of an AUV in underwaterenvironments, Intelligent Automation and Soft Computing,19(4), 2013, 555–566.
  2. [2] B. Sun, D. Zhu, and S.X. Yang, A bio-inspired cascadedapproach for three-dimensional tracking control of unmannedunderwater vehicles, International Journal of Robotics andAutomation, 29(4), 2014, 349–358.
  3. [3] N.Q. Hoang and E. Kreuzer, Adaptive PD-controller for po-sitioning of a remotely operated vehicle close to an underwa-ter structure: Theory and experiments, Control EngineeringPractice, 15(4), 2007, 411–419.
  4. [4] G. Marani, S.K. Choi, and J. Yuk, Underwater autonomousmanipulator for intervention missions AUVs, Ocean Engineer-ing, 36(1), 2009, 15–23.
  5. [5] P. Ridao, J. Yuh, J. Batlle, and K. Sugihara, On AUV controlarchitecture, Proc. IEEE/RSJ International Conf. on Intelli-gent Robots and Systems, Takamatsu, Japan, 2000, 855–860.
  6. [6] D.B. Marco and A.J. Healey, Command, control, and naviga-tion experimental results with the NPS ARIES AUV, IEEEJournal of Oceanic Engineering, 26(4), 2001, 466–476.
  7. [7] M. Krieg and K. Mohseni, Incorporation of novel underwaterthrusters into vehicle control systems, Proc. IEEE Interna-tional Conf. on Robotics and Automation, Pasadena, CA,2008, 1077–1082.
  8. [8] S.M. Lukic and A. Emadi, State-switching control techniquefor switched reluctance motor drives: Theory and implemen-tation, IEEE Transactions on Industrial Electronics, 57(9),2010, 2932–2938.
  9. [9] W.Q. Qu and J.H. Liu, Research on P theory and it’s formulaof speed control of asynchronous motor, Proc. InternationalConf. on Electrical and Control Engineering, Yichang, China,2011, 1208–1212.
  10. [10] H. Lin, W. Yan, and H. Li, Inverter fault-tolerant operationof brushless DC motor drives, Journal of Xi’an JiaotongUniversity, 43(2), 2009, 53–57.
  11. [11] C.Q. Huang and C.Y. Su, Output feedback adaptive trackingcontrol with Lp input/output stability for robot manipulators,International Journal of Robotics and Automation, 29(2),2014, 202–214.
  12. [12] M. Ruderman, Tracking control of motor drives using feed-forward friction observer, IEEE Transaction on IndustrialElectronics, 61(7), 2014, 3727–3735.
  13. [13] J. Kim and W.K. Chung, Accurate and practical thrustersmodeling for underwater vehicles, Ocean Engineering, 33(5–6),2006, 566–586.
  14. [14] A.M. Hanai, S.K. Choi, G. Marani, and K.H. Rosa, Exper-imental validation of model-based thrusters fault detectionfor underwater vehicles, Proc. IEEE International Conf. onRobotics and Automation, Kobe, Japan, 2009, 194–199.
  15. [15] X. Cao and D. Zhu, Multi-AUV underwater cooperative searchalgorithm based on biological inspired neurodynamics modeland velocity synthesis, Journal of Navigation, 68(6), 2015, 1–13.
  16. [16] A.E. Fadili, F. Giri, A.E. Magri, R. Lajouad, et al., Adaptivecontrol strategy with flux reference optimization for sensorlessinduction motors, Control Engineering Practice, 26(1), 2014,91–106.
  17. [17] O. Barambones and A.J. Garrido, An adaptive variable struc-ture control law for sensorless induction motors, EuropeanJournal of Control, 13(4), 2007, 382–392.
  18. [18] A. Mezouar, M.K. Fellah, and S. Hadjeri, Adaptive sliding-mode-observer for sensorless induction motor drive usingtwo-time-scale approach, Simulation Modelling Practice andTheory, 16(9), 2008, 1323–1336.
  19. [19] W.C. Chi and M.Y. Cheng, Implementation of a sliding-mode-based position sensorless drive for high-speed micropermanent-magnet synchronous motors, ISA Transactions,53(2), 2014, 444–453.
  20. [20] N. Inanc, A robust sliding mode flux and speed observer forspeed sensorless control of an indirect field oriented inductionmotor drives, Electric Power Systems Research, 77(12), 2007,1681–1688.
  21. [21] N. Inanc, Implementation of a closed loop sliding mode observerfor speed sensorless control of an indirect field oriented induc-tion motor drives, Electrical Engineering, 90(2), 2007, 87–93.
  22. [22] T. Mai, Y. Wang, and T. Ngo, Adaptive tracking controlfor robot manipulators using fuzzy wavelet neural networks,International Journal of Robotics and Automation, 30(1),2015, 26–39.
  23. [23] I. Serban and C. Marinescu, A sensorless control method forvariable-speed small wind turbines, Renewable Energy, 43,2012, 256–266.
  24. [24] D. Zhu, Y. Zhao, and M. Yan, A bio-inspired neurodynam-ics based backstepping path-following control of an AUVwith ocean current, International Journal of Robotics andAutomation, 27(3), 2012, 280–287.
  25. [25] K.L. Kang, J.M. Kim, K.B. Hwang, and K.H. Kim, Sensorlesscontrol of PMSM in high speed range with iterative slid-ing mode observer, Proceedings of the IEEE Applied PowerElectronics Conference and Exposition, 2, 2004, 1111–1116.
  26. [26] C.P. Tan, X. Yu, and Z. Man, Terminal sliding mode observersfor a class of nonlinear systems, Automatica, 46(8), 2010,1401–1404.
  27. [27] Y. Feng, J. Zheng, X. Yu, and N.V. Truong, Hybrid terminalsliding-mode observer design method for a permanent-magnetsynchronous motor control system, IEEE Transactions onIndustrial Electronics, 59(9), 2009, 3424–3431.
  28. [28] Y. Wang, L. Gu, M. Gao, X. Jia, et al., Depth control of re-motely operated vehicles using non-singular fast terminal slid-ing mode control method, Oceans, San Diego, CA, 2013, 1–6.
  29. [29] S. Yu, X. Yu, B. Shirinzadeh, and Z. Man, Continuous finite-time control for robotic manipulators with terminal slidingmode, Automatica, 41(11), 2005, 1957–1964.
  30. [30] X. Yu and Z. Man, Fast terminal sliding-mode control de-sign for nonlinear dynamical systems, IEEE Transactions onCircuits and Systems, 49(2), 2002, 261–264.
  31. [31] L. Wang, T. Chai, and L. Zhai, Neural-network-based terminalsliding-mode control of robotic manipulators including actu-ator dynamics, IEEE Transactions on Industrial Electronics,56(9), 2009, 3296–3304.
  32. [32] L.J. Zhang, X. Qi, and Y.J. Pang, Adaptive output feedbackcontrol based on DRFNN for AUV, Ocean Engineering, 36(3),2009, 716–722.
  33. [33] H.F. Ho, Y.K. Wong, and A.B. Rad, Adaptive fuzzy slidingmode control with chattering elimination for nonlinear SISOsystems, Simulation Modelling Practice and Theory, 17(7),2009, 1199–1210.196

Important Links:

Go Back