A robust dynamic region-based control scheme for an autonomous underwater vehicle
Intelligent control of an autonomous underwater vehicle (AUV) requires a control scheme which is robust to external perturbations. These perturbations are highly uncertain and can prevent the AUV from accomplishing its mission. A well-known robust control called sliding mode control (SMC) and its de...
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| Format: | Article |
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Elsevier Ltd
2016
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| author | Ismail, Z. H. Mokhar, M. B. M. Putranti, V. W. E. Dunnigan, M. W. |
| author_facet | Ismail, Z. H. Mokhar, M. B. M. Putranti, V. W. E. Dunnigan, M. W. |
| author_sort | Ismail, Z. H. |
| collection | ePrints |
| description | Intelligent control of an autonomous underwater vehicle (AUV) requires a control scheme which is robust to external perturbations. These perturbations are highly uncertain and can prevent the AUV from accomplishing its mission. A well-known robust control called sliding mode control (SMC) and its development have been introduced. However, it produces a chattering effect which requires more energy. To overcome this problem, this paper presents a novel robust dynamic region-based control scheme. An AUV needs to be able not only to track a moving target as a region but also to position itself inside the region. The proposed controller is developed based on an adaptive sliding mode scheme. An adaptive element is useful for the AUV to attenuate the effect of external disturbances and also the chattering effect. Additionally, the application of the dynamic-region concept can reduce the energy demand. Simulations are performed to illustrate the effectiveness of the proposed controller. Furthermore, a Lyapunov-like function is presented for stability analysis. It is demonstrated that the proposed controller works better then an adaptive sliding mode without the region boundary scheme and a fuzzy sliding mode controller. |
| first_indexed | 2024-03-05T20:02:04Z |
| format | Article |
| id | utm.eprints-71701 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T20:02:04Z |
| publishDate | 2016 |
| publisher | Elsevier Ltd |
| record_format | dspace |
| spelling | utm.eprints-717012017-11-21T03:28:06Z http://eprints.utm.my/71701/ A robust dynamic region-based control scheme for an autonomous underwater vehicle Ismail, Z. H. Mokhar, M. B. M. Putranti, V. W. E. Dunnigan, M. W. T Technology (General) Intelligent control of an autonomous underwater vehicle (AUV) requires a control scheme which is robust to external perturbations. These perturbations are highly uncertain and can prevent the AUV from accomplishing its mission. A well-known robust control called sliding mode control (SMC) and its development have been introduced. However, it produces a chattering effect which requires more energy. To overcome this problem, this paper presents a novel robust dynamic region-based control scheme. An AUV needs to be able not only to track a moving target as a region but also to position itself inside the region. The proposed controller is developed based on an adaptive sliding mode scheme. An adaptive element is useful for the AUV to attenuate the effect of external disturbances and also the chattering effect. Additionally, the application of the dynamic-region concept can reduce the energy demand. Simulations are performed to illustrate the effectiveness of the proposed controller. Furthermore, a Lyapunov-like function is presented for stability analysis. It is demonstrated that the proposed controller works better then an adaptive sliding mode without the region boundary scheme and a fuzzy sliding mode controller. Elsevier Ltd 2016 Article PeerReviewed Ismail, Z. H. and Mokhar, M. B. M. and Putranti, V. W. E. and Dunnigan, M. W. (2016) A robust dynamic region-based control scheme for an autonomous underwater vehicle. Ocean Engineering, 111 . pp. 155-165. ISSN 0029-8018 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84947590716&doi=10.1016%2fj.oceaneng.2015.10.052&partnerID=40&md5=9f17a9f1ca707b84b928273306ee1689 |
| spellingShingle | T Technology (General) Ismail, Z. H. Mokhar, M. B. M. Putranti, V. W. E. Dunnigan, M. W. A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title | A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title_full | A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title_fullStr | A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title_full_unstemmed | A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title_short | A robust dynamic region-based control scheme for an autonomous underwater vehicle |
| title_sort | robust dynamic region based control scheme for an autonomous underwater vehicle |
| topic | T Technology (General) |
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