Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach

Document Type : Research Article

Authors

1 Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Laboratory

2 Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran

Abstract

Highly nonlinear systems with parametric uncertainties and external disturbances deteriorate the tracking control performances of autonomous underwater vehicles (AUV). To achieve high accuracy performances for such system, an adaptive integral-type terminal sliding mode controller (ATSMC) is proposed in this research. To this end, the kinematics and kinetics controller laws are designed as the outer and inner loop control to track desired trajectories. The kinematics controller, as the outer controller, is developed to control the position errors. The kinetics controller, as the inner servo loop, is developed based on the system dynamics model and an adaptive integral-exponential sliding surface (ATSMC) to control the internal velocity errors. In order to enhance control proficiency, we have implemented an adaptive switching rule within the kinetic control algorithm, enabling the automated adjustment of all control parameters. Therefore, the increase and decrease of switching parameters will happen according to the system conditions, while its stability is guaranteed using Lyapunov theories. Obtained results show the merits of the proposed controller in terms of high accuracy performance and low computation cost for real-time implementations.

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AUT Journal of Mechanical Engineering
Volume 8, Issue 1
March 2024
Pages 5-5

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