Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane
type: Item
instance of: scholarly article
title: Adaptive terminal sliding mode NDO-based control of underactuated AUV in vertical plane
zbMATH Open document ID: 1417.93218
DOI: 10.1155/2016/6590517
author: Wei Chen
author: Yanhui Wei
author: J. Zeng
author: Han Han
author: Xianqiang Jia
published in: Discrete Dynamics in Nature and Society
publication date: 2019-02-19T00:00:00Z
review text: Summary: The depth tracking issue of underactuated autonomous underwater vehicle (AUV) in vertical plane is addressed in this paper. Considering the complicated dynamics and kinematics model for underactuated AUV, a more simplified model is obtained based on assumptions. Then a nonlinear disturbance observer (NDO) is presented to estimate the external disturbance acting on AUV, and an adaptive terminal sliding mode control (ATSMC) based on NDO is applied to enhance the depth tracking performance of underactuated AUV considering both internal and external disturbance. Compared with the traditional sliding mode controller, the static error and chattering problem of the depth tracking process have been clearly improved by adopting NDO-based ATSMC. The stability of control system is proven to be guaranteed according to Lyapunov theory. In the end, simulation results imply that the proposed controller owns strong robustness and satisfied control effectiveness in comparison with the traditional controller.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 70E60
zbMATH DE Number: 7025586
Wikidata QID: Q59123616
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/6590517
OpenAlex ID: W2229819277
cites work: Movement control in recovering UUV based on two-stage discrete T-S fuzzy model
cites work: Automatic bottom-following for underwater robotic vehicles
cites work: Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances
cites work: Adaptive control of nonlinear systems: A case study of underwater robotic systems
cites work: Q3538224
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description: scientific article; zbMATH DE number 7025586