Title :
Discrete-time quasi-sliding mode control of an autonomous underwater vehicle
Author :
Lee, Pan-Mook ; Hong, Seok-Won ; Lim, Yong-Kon ; Lee, Chong-Moo ; Jeon, Bong-Hwan ; Park, Jong-Won
Author_Institution :
Korea Res. Inst. of Ships and Ocean Eng., Taejon, South Korea
fDate :
7/1/1999 12:00:00 AM
Abstract :
This paper presents a discrete-time quasi-sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and a long sampling interval. The AUV, named VORAM, is used as a model for the verification of the proposed control algorithm. Simulations of depth control and contouring control are performed for a numerical model of the AUV with full nonlinear equations of motion to verify the effectiveness of the proposed control schemes when the vehicle has a long sampling interval. By using the discrete-time quasi-sliding mode control law, experiments on depth control of the AUV are performed in a towing tank. The controller makes the system stable in the presence of system uncertainties and even external disturbances without any observer nor any predictor producing high rate estimates of vehicle states. As the sampling interval becomes large, the effectiveness of the proposed control law is more prominent when compared with the conventional sliding mode controller
Keywords :
control system synthesis; discrete time systems; motion control; remotely operated vehicles; robust control; uncertain systems; underwater vehicles; variable structure systems; VORAM AUV; autonomous underwater vehicle; contouring control; control algorithm; depth control; discrete-time quasi-sliding mode control; high rate estimates; long sampling interval; nonlinear equations of motion; parameter uncertainties; towing tank; vehicle state; Control systems; Motion control; Nonlinear equations; Numerical models; Observers; Sampling methods; Sliding mode control; Uncertain systems; Uncertainty; Underwater vehicles;
Journal_Title :
Oceanic Engineering, IEEE Journal of
