Dynamic Sliding-Mode Control with Backstepping for Underactuated AUV in Diving Plane

Abstract:

A dynamic sliding-mode control (DSMC) with backstepping is proposed for diving control of autonomous underwater vehicle (AUV), where surge force and stern plane are only available for vehicle's 3DOF diving motion. First, an equivalent model of AUV is developed. Then, the DSMC with an asymptotical sliding surface is proposed for the trajectory tracking control of AUV. Moreover, the analysis of stability can be completed by Lyapunov stability theory. Finally, To demonstrate the effectiveness of the proposed method, the simulation results are illustrated in this paper. simulation results show that, the tracking precision and the robustness of the system are improved under the proposed control method.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1148-1152
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1148
• Online since: November 2012
• Authors: Li Dong Guo, Li Xin Yang, He Ming Jia
• Keywords: Diving Control, Dynamic Sliding-Mode, Lyapunov Stability Theory, Underactuated AUV

References

[1] Bovio E, D Cecchi, "Autonomous underwater vehicles for scientific and naval operations,"Annual Reviews in Control, Elsevier, vol. 30, no. 4, pp.117-130, 2006.

DOI: 10.1016/j.arcontrol.2006.08.003

[2] Lapierre L, D Soetanto, "Nonlinear Path-following Control of an AUV,"Ocean Engineering, Elsevier, vol. 34, no. 11, pp.1734-1744, 2007.

DOI: 10.1016/j.oceaneng.2006.10.019

[3] Li Ji-hong, P Mook Lee, "Design of an Adaptive Nonlinear Controller for Depth Control of an Autonomous Underwater Vehicle,"Ocean Engineering, Elsevier, vol. 32, no. 1, pp.2165-2181, 2007.

DOI: 10.1016/j.oceaneng.2005.02.012

[4] Skjetene R, TI Fossen, "Nonlinear Maneuvering and Control of Ships," In Proceedings of OCEANS MTS/IEEE Conference and Exhibition, pp.1808-1815, 2001.

DOI: 10.1109/oceans.2001.968121

[5] C Silvestre, A Pascoal, "Depth control of the INFANTE AUV using gain-scheduled reduced order output feedback," Control Engineering Practice, Elsevier, vol. 15, no. 1, pp.883-895, 2007.

DOI: 10.1016/j.conengprac.2006.05.005

[6] Eng You Hong, Hong Geok Soon, Mandar Chitre, "Depth Control of an Autonomous Underwater Vehicle", In Proceedings of OCEANS MTS/IEEE Conference and Exhibition, pp.1-6, 2010.

DOI: 10.1109/oceanssyd.2010.5603566

[7] Lapierre Lionel, "Robust diving control of an AUV," Ocean Engineering, Elsevier, vol. 36, no. 1, pp.92-104, 2009.

DOI: 10.1016/j.oceaneng.2008.10.006

[8] Feijun Song, Samuel Smith, "Design of Sliding Mode Fuzzy Controllers for an Autonomous Underwater Vehicle without System Model," In Proceedings of OCEANS MTS/IEEE Conference and Exhibition, pp.835-840, 2000.

DOI: 10.1109/oceans.2000.881362

[9] Ji Hong Li, Pan Mook Lee, "A neural network adaptive controller design for free-pitch-angle diving behavior of an autonomous underwater vehicle," Robotics and Autonomous Systems, Elsevier, vol. 52, no. 1, pp.132-147, 2005.

DOI: 10.1016/j.robot.2005.04.004