Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control
Abstract: Autonomous Underwater Vehicles (AUVs) are used in many applications such as the exploration of oceans, scientific and military missions, etc. Developing control schemes for AUVs is considered to be a very challenging task due to the complexity of the AUV model, the unmodeled dynamics, the...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer Netherlands
2021
|
| Online Access: | https://hdl.handle.net/1721.1/130117 |
| _version_ | 1811074774970925056 |
|---|---|
| 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 | Abstract: Autonomous Underwater Vehicles (AUVs) are used in many applications such as the exploration of oceans, scientific and military missions, etc. Developing control schemes for AUVs is considered to be a very challenging task due to the complexity of the AUV model, the unmodeled dynamics, the uncertainties and the environmental disturbances. This paper develops a robust control scheme for the dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles. In order to insure the robustness of the proposed controllers, the sliding mode control technique is adopted in the design process. Simulation results are given to validate the proposed controllers. Moreover, studies are presented to evaluate the robustness of the developed controllers with model uncertainties and under different types of disturbances including unknown currents. |
| first_indexed | 2024-09-23T09:55:18Z |
| format | Article |
| id | mit-1721.1/130117 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:55:18Z |
| publishDate | 2021 |
| publisher | Springer Netherlands |
| record_format | dspace |
| spelling | mit-1721.1/1301172022-09-26T14:36:00Z Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal Massachusetts Institute of Technology. Department of Mechanical Engineering Abstract: Autonomous Underwater Vehicles (AUVs) are used in many applications such as the exploration of oceans, scientific and military missions, etc. Developing control schemes for AUVs is considered to be a very challenging task due to the complexity of the AUV model, the unmodeled dynamics, the uncertainties and the environmental disturbances. This paper develops a robust control scheme for the dynamic positioning and way-point tracking of underactuated autonomous underwater vehicles. In order to insure the robustness of the proposed controllers, the sliding mode control technique is adopted in the design process. Simulation results are given to validate the proposed controllers. Moreover, studies are presented to evaluate the robustness of the developed controllers with model uncertainties and under different types of disturbances including unknown currents. Kuwait Foundation for the Advancement of Science (KFAS 2013-5505-01) 2021-03-11T01:35:34Z 2021-03-11T01:35:34Z 2018-04 2017-03 2020-09-24T20:36:18Z Article http://purl.org/eprint/type/JournalArticle 1573-0409 https://hdl.handle.net/1721.1/130117 Elmokadem, Taha et al., "Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control." Journal of Intelligent & Robotic Systems 95, 3 (September 2019): 1113–32 ©2018 Authors en https://dx.doi.org/10.1007/s10846-018-0830-8 Journal of Intelligent & Robotic Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ Springer Science+Business Media B.V., part of Springer Nature application/pdf Springer Netherlands Springer Netherlands |
| spellingShingle | Elmokadem, Taha Zribi, Mohamed Youcef-Toumi, Kamal Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title | Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title_full | Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title_fullStr | Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title_full_unstemmed | Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title_short | Control for Dynamic Positioning and Way-point Tracking of Underactuated Autonomous Underwater Vehicles Using Sliding Mode Control |
| title_sort | control for dynamic positioning and way point tracking of underactuated autonomous underwater vehicles using sliding mode control |
| url | https://hdl.handle.net/1721.1/130117 |
| work_keys_str_mv | AT elmokademtaha controlfordynamicpositioningandwaypointtrackingofunderactuatedautonomousunderwatervehiclesusingslidingmodecontrol AT zribimohamed controlfordynamicpositioningandwaypointtrackingofunderactuatedautonomousunderwatervehiclesusingslidingmodecontrol AT youceftoumikamal controlfordynamicpositioningandwaypointtrackingofunderactuatedautonomousunderwatervehiclesusingslidingmodecontrol |