Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays

Harun Tugal; Kamil Cetin; Xiaoran Han; Ibrahim Küçükdemiral; Joshua Roe; Yvan Petillot; Mustafa Suphi Erden

doi:10.1109/ICRA46639.2022.9812005

Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays

Harun Tugal, Kamil Cetin, Xiaoran Han, Ibrahim Küçükdemiral, Joshua Roe, Yvan Petillot, Mustafa Suphi Erden

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

90 Downloads (Pure)

Abstract

Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that the proposed control method provides better performance than the conventional PID in the presence of extreme disturbances with less control efforts.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Automation 2022
Publisher	IEEE
Pages	3034-3039
Number of pages	6
ISBN (Electronic)	9781728196817
DOIs	https://doi.org/10.1109/ICRA46639.2022.9812005
Publication status	Published - 12 Jul 2022
Event	39th IEEE International Conference on Robotics and Automation 2022 - Pennsylvania Convention Center, Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 https://www.icra2022.org/

Conference

Conference	39th IEEE International Conference on Robotics and Automation 2022
Abbreviated title	ICRA 2022
Country/Territory	United States
City	Philadelphia
Period	23/05/22 → 27/05/22
Internet address	https://www.icra2022.org/

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10.1109/ICRA46639.2022.9812005

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title = "Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays",

abstract = "Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that the proposed control method provides better performance than the conventional PID in the presence of extreme disturbances with less control efforts.",

author = "Harun Tugal and Kamil Cetin and Xiaoran Han and Ibrahim K{\"u}{\c c}{\"u}kdemiral and Joshua Roe and Yvan Petillot and Erden, {Mustafa Suphi}",

year = "2022",

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doi = "10.1109/ICRA46639.2022.9812005",

language = "English",

pages = "3034--3039",

booktitle = "IEEE International Conference on Robotics and Automation 2022",

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note = "39th IEEE International Conference on Robotics and Automation 2022, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",

url = "https://www.icra2022.org/",

}

Tugal, H, Cetin, K, Han, X, Küçükdemiral, I, Roe, J, Petillot, Y & Erden, MS 2022, Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays. in IEEE International Conference on Robotics and Automation 2022. IEEE, pp. 3034-3039, 39th IEEE International Conference on Robotics and Automation 2022, Philadelphia, Pennsylvania, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9812005

TY - GEN

T1 - Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays

AU - Tugal, Harun

AU - Cetin, Kamil

AU - Han, Xiaoran

AU - Küçükdemiral, Ibrahim

AU - Roe, Joshua

AU - Petillot, Yvan

AU - Erden, Mustafa Suphi

PY - 2022/7/12

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N2 - Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that the proposed control method provides better performance than the conventional PID in the presence of extreme disturbances with less control efforts.

AB - Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that the proposed control method provides better performance than the conventional PID in the presence of extreme disturbances with less control efforts.

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DO - 10.1109/ICRA46639.2022.9812005

M3 - Conference contribution

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BT - IEEE International Conference on Robotics and Automation 2022

PB - IEEE

T2 - 39th IEEE International Conference on Robotics and Automation 2022

Y2 - 23 May 2022 through 27 May 2022

ER -

Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays

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