Trajectory tracking sliding mode control of underactuated AUVs
This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmode...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Springer Netherlands
2016
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| Online Access: | http://hdl.handle.net/1721.1/103050 |
| _version_ | 1826209687653056512 |
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| author | Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal |
| author_sort | Elmokadem, Taha |
| collection | MIT |
| description | This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodelled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances. |
| first_indexed | 2024-09-23T14:27:14Z |
| format | Article |
| id | mit-1721.1/103050 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:27:14Z |
| publishDate | 2016 |
| publisher | Springer Netherlands |
| record_format | dspace |
| spelling | mit-1721.1/1030502022-10-01T21:24:34Z Trajectory tracking sliding mode control of underactuated AUVs Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal Massachusetts Institute of Technology. Department of Mechanical Engineering Youcef-Toumi, Kamal This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodelled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances. Kuwait Foundation for the Advancement of Sciences (Project KFAS 2013-5505-01) 2016-06-08T13:52:59Z 2017-03-01T16:11:33Z 2015-12 2016-05-23T12:08:05Z Article http://purl.org/eprint/type/JournalArticle 0924-090X 1573-269X http://hdl.handle.net/1721.1/103050 Elmokadem, Taha, Mohamed Zribi, and Kamal Youcef-Toumi. "Trajectory tracking sliding mode control of underactuated AUVs." Nonlinear Dynamics (2016) 84:1079–1091. en http://dx.doi.org/10.1007/s11071-015-2551-x Nonlinear Dynamics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ Springer Science+Business Media Dordrecht application/pdf Springer Netherlands Springer Netherlands |
| spellingShingle | Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal Trajectory tracking sliding mode control of underactuated AUVs |
| title | Trajectory tracking sliding mode control of underactuated AUVs |
| title_full | Trajectory tracking sliding mode control of underactuated AUVs |
| title_fullStr | Trajectory tracking sliding mode control of underactuated AUVs |
| title_full_unstemmed | Trajectory tracking sliding mode control of underactuated AUVs |
| title_short | Trajectory tracking sliding mode control of underactuated AUVs |
| title_sort | trajectory tracking sliding mode control of underactuated auvs |
| url | http://hdl.handle.net/1721.1/103050 |
| work_keys_str_mv | AT elmokademtaha trajectorytrackingslidingmodecontrolofunderactuatedauvs AT zribimohamed trajectorytrackingslidingmodecontrolofunderactuatedauvs AT youceftoumikamal trajectorytrackingslidingmodecontrolofunderactuatedauvs |