Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot
This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin's time optimal control principle, in which the solution is obtained by using neur...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/time_optimal_hybrid_sliding_mode-pi_control_for_an_autonomous_underwater_robot |
| _version_ | 1818019205063114752 |
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| author | Theerayuth Chatchanayuenyong Manukid Parnichkun |
| author_facet | Theerayuth Chatchanayuenyong Manukid Parnichkun |
| author_sort | Theerayuth Chatchanayuenyong |
| collection | DOAJ |
| description | This paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin's time optimal control principle, in which the solution is obtained by using neural network approach to yield a time optimal response at its reaching phase. PI control is used in place of the SMC at the switching phase to avoid high undesired control activity. Performance of the proposed controller is compared with various classical SMCs and conventional linear control systems. Such comparisons ensure the implementation success and prove it as a real time-optimal controller. The results show the controller's good abilities to deal with plant nonlinearity and parameter uncertainties. The controller yields a time optimal control response without high control chattering. |
| first_indexed | 2024-04-14T07:48:11Z |
| format | Article |
| id | doaj.art-af2f9fce77ae4876b3a815c2b71d64c1 |
| institution | Directory Open Access Journal |
| issn | 1729-8806 1729-8814 |
| language | English |
| last_indexed | 2024-04-14T07:48:11Z |
| publishDate | 2008-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-af2f9fce77ae4876b3a815c2b71d64c12022-12-22T02:05:16ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88061729-88142008-11-0151Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater RobotTheerayuth ChatchanayuenyongManukid ParnichkunThis paper presents an underwater robot control system using combination principle among sliding mode control (SMC), Pontryagin maximum principle and linear PI control. The SMC switches according to the Pontryagin's time optimal control principle, in which the solution is obtained by using neural network approach to yield a time optimal response at its reaching phase. PI control is used in place of the SMC at the switching phase to avoid high undesired control activity. Performance of the proposed controller is compared with various classical SMCs and conventional linear control systems. Such comparisons ensure the implementation success and prove it as a real time-optimal controller. The results show the controller's good abilities to deal with plant nonlinearity and parameter uncertainties. The controller yields a time optimal control response without high control chattering.http://www.intechopen.com/articles/show/title/time_optimal_hybrid_sliding_mode-pi_control_for_an_autonomous_underwater_robotAutonomous Underwater RobotTime optimal controlNeural networkHybrid control |
| spellingShingle | Theerayuth Chatchanayuenyong Manukid Parnichkun Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot International Journal of Advanced Robotic Systems Autonomous Underwater Robot Time optimal control Neural network Hybrid control |
| title | Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot |
| title_full | Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot |
| title_fullStr | Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot |
| title_full_unstemmed | Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot |
| title_short | Time Optimal Hybrid Sliding Mode-PI Control for an Autonomous Underwater Robot |
| title_sort | time optimal hybrid sliding mode pi control for an autonomous underwater robot |
| topic | Autonomous Underwater Robot Time optimal control Neural network Hybrid control |
| url | http://www.intechopen.com/articles/show/title/time_optimal_hybrid_sliding_mode-pi_control_for_an_autonomous_underwater_robot |
| work_keys_str_mv | AT theerayuthchatchanayuenyong timeoptimalhybridslidingmodepicontrolforanautonomousunderwaterrobot AT manukidparnichkun timeoptimalhybridslidingmodepicontrolforanautonomousunderwaterrobot |