Adaptive Non-singular Terminal Sliding Mode Control for an Unmanned Underwater Vehicle: Real-time Experiments
| Autor: | Filiberto Muñoz, Adrian Manzanilla, Angel Eduardo Zamora Suarez, Miguel Angel Garcia Rangel, Rogelio Lozano, Sergio Salazar |
|---|---|
| Přispěvatelé: | Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP ), Université Grenoble Alpes (UGA)-Université Grenoble Alpes (UGA), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science Terminal sliding mode 02 engineering and technology Computer Science Applications Reduction (complexity) 020901 industrial engineering & automation Terminal (electronics) Control and Systems Engineering Control theory Bounded function [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Convergence (routing) Trajectory Unmanned underwater vehicle ComputingMilieux_MISCELLANEOUS |
| Zdroj: | International Journal of Control, Automation and Systems International Journal of Control, Automation and Systems, Springer, 2020, 18 (3), pp.615-628. ⟨10.1007/s12555-019-0674-4⟩ |
| ISSN: | 1598-6446 2005-4092 |
| DOI: | 10.1007/s12555-019-0674-4⟩ |
| Popis: | This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-Singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full text from SpringerLink