A robust dynamic region-based control scheme for an autonomous underwater vehicle

Zool H. Ismail, Mohd B. M. Mokhar, Vina W. E. Putranti, Mathew Walter Dunnigan

Research output: Contribution to journalArticle

22 Citations (Scopus)
46 Downloads (Pure)

Abstract

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.

Original languageEnglish
Pages (from-to)155-165
Number of pages11
JournalOcean Engineering
Volume111
Early online date21 Nov 2015
DOIs
Publication statusPublished - 1 Jan 2016

Keywords

  • Adaptive sliding-mode control
  • Autonomous underwater vehicle
  • Dynamic region based approach
  • Robust control

ASJC Scopus subject areas

  • Ocean Engineering
  • Environmental Engineering

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