PATH FOLLOWING CONTROL FOR AN UNDER-ACTUATED UUV BASED ON ADAPTIVE SLIDING MODE CONTROL

Wei Zhang, Zhicheng Liang, Xixun Sun, Yanbin Teng, Xiaosong Song, and Zheping Yan

References

  1. [1] E. Sarda and M. Dhanak, Unmanned recovery of an AUV froma surface platform manuscript, Oceans 2013 MTS/IEEE SanDiego Conf.: An Ocean in Common (Oceans’13 MTS/IEEESan Diego), San Diego, CA, 2013, 1–6.
  2. [2] A.P. Aguiar and J.P. Hespanha, Trajectory-tracking and path-following of underactuated autonomous vehicles with paramet-ric modeling uncertainty, IEEE Transactions on AutomaticControl, 52(8), 2007, 1362–1379.
  3. [3] M. Ling and C. Wei-cheng, Path following control study ofan autonomous underwater vehicle controlled by non-singularterminal sliding mode, Ship Building of China, 47(04), 2006,76–82.
  4. [4] K.D. Do and J. Pan, Robust path following of underactuatedships using Serret-Frenet frame, 2003 American Control Conf.,Denver, CO, 2003, 2000–2005.
  5. [5] L. Lapierre and D. Soetanto, Nonlinear path-following controlof an AUV, Ocean Engineering, 34(11–12), 2007, 1734–1744.
  6. [6] B. Jalving and N. Storkersen, Control system of an autonomousunderwater vehicle, Proc. 1994 IEEE Conf. on Control Appli-cations, Glasgow, UK, 1994, 851–856.
  7. [7] F. Repoulias and E. Papadopoulos, Three dimensional tra-jectory control of underactuated AUVs, 2007 9th EuropeanControl Conf., Kos, Greece, 2007, 3492–3499.
  8. [8] D. Zhu, Y. Zhao, and M. Yan, A bio-inspired neurodynamicsbased backstepping path-following control of an auv with oceancurrent, International Journal of Robotics & Automation,27 (3), 2012, 298–307.
  9. [9] H.-M. Jia, L.-J. Zhang, X.-Q. Cheng, X.-Q. Bian, et al.,Three-dimensional path following control for an underactuatedUUV based on nonlinear iterative sliding mode, ZidonghuaXuebao/Acta Automatica Sinica, 38(2), 2012, 308–314.
  10. [10] V.I. Utkin, J. Guldner, and J. Shi, Sliding mode control inelectro-mechanical systems, 2nd ed. (Florida: CRC Press,2009).
  11. [11] D. Yoerger and J.J. Slotine, Nonlinear trajectory control ofautonomous underwater vehicles using the sliding methodology,OCEANS 1984, Washington, DC, 1984, 588–593.
  12. [12] Z. Yuan-tao, Adaptive sliding mode control and application foruncertain nonlinear systems, Doctoral Dissertation, ChongqingUniversity, Chongqing, China, 2011.
  13. [13] F. Piltan, N. Sulaiman, A. Gavahian, S. Soltani, and S. Roosta,Design mathematical tunable gain PID-like sliding mode fuzzycontroller with minimum rule base, International Journal ofRobotics & Automation, 2(2), 2011, 146–156.
  14. [14] F. Piltan, N. Sulaiman, Z. Tajpaykar, P. Ferdosali, and M.Rashidi, Design artificial nonlinear robust controller based onCTLC and FSMC with tunable gain, International Journal ofRobotics & Automation, 2(3), 2011, 205–220.
  15. [15] G.V. Lakhekar and V.D. Saundarmal, Novel adaptive fuzzysliding mode controller for depth control of an underwatervehicles, 2013 IEEE International Conf. on Fuzzy Systems,Hyderabad, India, 2013, 1–7.
  16. [16] E.Y. Hong, H.G. Soon, and M. Chitre, Depth control of anautonomous underwater vehicle, starfish, OCEANS’10 IEEESydney, Sydney, NSW, Australia, 2010, 1–6.
  17. [17] F. Ola-Erik, Control of unmanned underwater vehicles in sixdegrees of freedom: A quaternion feedback approach, DoctoralDissertation, The Norwegian Institute of Technology Universityof Trondheim, Trondheim, Norway, 1994.
  18. [18] S.-W. Shi, W.-S. Yan, J. Gao, and W.-B. Li, Path-followingcontrol of an AUV in the horizontal plane with constant oceancurrents, Binggong Xuebao/Acta Armamentarii, 31(3), 2010,375–379.
  19. [19] X. Xian-bo, Research on path following and coordinated con-trol for second-order nonholonomic AUVs, Doctoral Disserta-tion, Huazhong University of Science and Technology, Wuhan,China, 2010.
  20. [20] E. Borhaug, A. Pavlov, and K.Y. Pettersen, Cross-track for-mation control of underactuated surface vessels, 2006 45thIEEE Conf. on Decision and Control, San Diego, CA, 2006,5955–5961.
  21. [21] W.-G. Wu, H.-T. Chen, and Y.-J. Wang, Global trajectorytracking control of mobile robots, Zidonghua Xuebao/ActaAutomatica Sinica, 27(3), 2001, 326–331.
  22. [22] J.-K. Liu and F.-C. Sun, Research and development on theoryand algorithms of sliding mode control, Kongzhi Lilun YuYingyong/Control Theory and Applications, 24(3), 2007, 407–418.
  23. [23] J.J. Slotine and S.S. Sastry, Tracking control of non-linear sys-tems using sliding surfaces with application to robot manipu-lators, 1983 Proc. of the International Conf. on Systems, Manand Cybernetics, Bombay and Delhi, India, 1983, 668–671.
  24. [24] S. Ching-Yei Chung and L. Chun-Liang, A transformed lureproblem for sliding mode control and chattering reduction,IEEE Transactions on Automatic Control, 44(3), 1999, 563–568.
  25. [25] J. Liu, Sliding mode control design and Matlab simulation, 2nded. (Beijing: Tsinghua University Press, 2012).

Important Links:

Go Back