Title :
Using a high order sliding modes for diving control a torpedo autonomous underwater vehicle
Author :
Salgado-Jiménez, T. ; Jouvencel, B.
Author_Institution :
LIRMM, Univ. of Montpellier II, France
Abstract :
In this paper, a high order sliding modes control (HOSMC) is used to control TAIPAN, a torpedo shaped AUV from LIRMM, France. The implementation of a second order sliding mode controller in this system is the main contribution of this work. Sliding mode control (SMC) is adequate for controlling AUVs, since it offers robustness in the presence of uncertainties parameters and environmental disturbances, however the main drawback is the chattering effects that stimulates high frequency vibration that can damage the actuators. HOSMC control preserves the properties of standard SMC and removes the chattering effects. The design of proportional derived (PD), SMC and HOSMC controller for control TAIPAN depth are described. A comparative study between the control laws is presented. The nonlinear hydrodynamic model of TAIPAN is used in the numerical simulations. Simulation results, that enlighten performance of the automatic controllers are shown.
Keywords :
oceanographic techniques; underwater vehicles; variable structure systems; France; HOSMC; LIRMM; TAIPAN; actuator; automatic controller; chattering effect; control laws; diving control; environmental disturbance; high frequency vibration; high order sliding mode control; nonlinear hydrodynamic model; numerical simulation; parameter uncertainty; performance enlighten; proportional derived method; second order sliding mode controller; torpedo autonomous underwater vehicle; Automatic control; Control systems; Frequency; Proportional control; Robust control; Shape control; Sliding mode control; Uncertainty; Underwater vehicles; Vibration control;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.178450
