Journal
IEEE ACCESS
Volume 9, Issue -, Pages 6855-6867Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3048706
Keywords
Over-actuated underwater vehicle; robust sliding mode controller; station-keeping control; experimental result
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Funding
- Vietnam National University Ho Chi Minh City (VNU-HCM) [B2020-20-09]
- Sejong University
- Korea Maritime University Intelligent Robot and Automation (KIAL) Lab
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This paper presents a robust station-keeping control algorithm based on sliding mode control theory to handle disturbances in underwater operations. An optimal allocation control algorithm is designed to optimize the performance of the system.
Nowadays, underwater vehicles (UVs) are applied to various tasks such as carrying objects or maintenance of underwater structures. To carry out well these tasks, UVs should keep the position and orientation in the water to perform the specified tasks. However, the systems used in underwater operations are always under the influence of disturbance such as ocean currents and model uncertainties. In this paper, the robust station-keeping (SK) control algorithm based on a sliding mode control (SMC) theory is designed to guarantee stability and better performance of a hovering over-actuated autonomous underwater vehicle (HAUV) despite the existence of model uncertainties and ocean current disturbance in the horizontal plane (HP). Using the Lyapunov theorem, the stability of the proposed controller is demonstrated. Besides, an optimal allocation control (AC) algorithm is also designed to keep the linear position and Euler angles of the HAUV in the presence of model uncertainties as well as ocean currents and to minimize the energy consumption of the system. Finally, a series of simulations and experiments for the HAUV system is conducted to demonstrate the superior performance of the proposed method.
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