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Journal ArticleDOI

Adaptive non-singular integral terminal sliding mode tracking control for autonomous underwater vehicles

01 May 2017-Iet Control Theory and Applications (The Institution of Engineering and Technology)-Vol. 11, Iss: 8, pp 1293-1306
TL;DR: The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds, provides higher tracking accuracy than the existing globally finite-time stable tracking control (GFTSTC), and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control.
Abstract: This study proposes an adaptive non-singular integral terminal sliding mode control (ANITSMC) scheme for trajectory tracking of autonomous underwater vehicles (AUVs) with dynamic uncertainties and time-varying external disturbances. The ANITSMC is first proposed for a first-order uncertain non-linear dynamic system to eliminate the singularity problem in conventional terminal sliding mode control (TSMC) and avoid the requirement of the bound information of the lumped system uncertainty. The time taken to reach the equilibrium point from any initial error is guaranteed to be finite. The proposed ANITSMC is then applied to trajectory tracking control of AUVs. It guarantees that the velocity tracking errors locally converge to zero in finite time and after that the position tracking errors locally converge to zero exponentially. The designed ANITSMC of AUVs avoids the requirement of the prior knowledge of the lumped system uncertainty bounds as opposite to the existing globally finite-time stable tracking control (GFTSTC), provides higher tracking accuracy than the existing GFTSTC and adaptive non-singular TSMC (ANTSMC) and offers faster convergence rate and better robustness against dynamic uncertainties and time-varying external disturbances than the adaptive proportional-integral sliding mode control (APISMC). Comparative simulation results are presented to validate the superiority of the ANITSMC over the APISMC.
Citations
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Journal ArticleDOI
TL;DR: The design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields are summarized and trends of the fuzzy future in Marine robotic vehicles are concluded based on its state of the art.
Abstract: Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.

263 citations

Journal ArticleDOI
TL;DR: An adaptive fast nonsingular integral terminal sliding mode control (AFNITSMC) method that provides AUV dynamics a faster convergence rate and its superiority over the existing ANITSMC method is proposed.
Abstract: This article aims to develop an effective control method that can improve the convergence rate over the existing adaptive nonsingular integral terminal sliding mode control (ANITSMC) method for the trajectory tracking control of autonomous underwater vehicles (AUVs). To achieve this goal, an adaptive fast nonsingular integral terminal sliding mode control (AFNITSMC) method is proposed. First, considering that the existing nonsingular integral terminal sliding mode (NITSM) has slow convergence rate in the region far from the equilibrium point, a fast NITSM (FNITSM) is proposed, which guarantees fast transient convergence both at a distance from and at a close range of the equilibrium point, and therefore increases the convergence rate over the existing NITSM. Then, using this FNITSM and adaptive technique, an AFNITSMC method is designed for AUVs. It yields local finite-time convergence of the velocity tracking errors to zero and then local exponential convergence of the position tracking errors to zero, without requiring any a priori knowledge of the upper bounds of the uncertainties and disturbances. Compared with the existing ANITSMC method, the salient feature of the proposed AFNITSMC method is that it provides AUV dynamics a faster convergence rate. Finally, simulation results demonstrate the efficiency of the proposed AFNITSMC method and its superiority over the existing ANITSMC method.

212 citations


Cites background or methods or result from "Adaptive non-singular integral term..."

  • ...In this section, a FNITSM is defined and its superiority over the NITSM [23] in terms of convergence rate is analyzed....

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  • ...Remark 1: The convergent time of e(t) on the FNITSM manifold is shorter than that on the NITSM manifold [23]....

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  • ...In [23], an adaptive nonsingular ITSMC (ANITSMC) method is presented for 3-D trajectory tracking control of AUVs with model uncertainties and unknown external disturbances....

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  • ...The main contribution of the proposed AFNITSMC method is that it offers AUV dynamics a faster convergence rate than the ANITSMC method [23], due to the faster convergence rate of the FNITSM over the NITSM [23]....

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  • ...To solve the abovementioned issue of the ANITSMC scheme [23], an adaptive fast nonsingular ITSMC (AFNITSMC) scheme is presented....

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Journal ArticleDOI
TL;DR: Compared with the existing adaptive SONTSM control (ASONTSMC) scheme, the proposed ASOFNTSMC scheme offers a faster convergence rate for the trajectory tracking control of fully actuated AUVs.
Abstract: This paper focuses on the design of an adaptive second-order fast nonsingular terminal sliding mode control (ASOFNTSMC) scheme for the trajectory tracking of fully actuated autonomous underwater vehicles (AUVs) in the presence of dynamic uncertainties and time-varying external disturbances. First, a second-order fast nonsingular terminal sliding mode (SOFNTSM) manifold is designed to achieve a faster convergence rate than the existing second-order nonsingular terminal sliding mode (SONTSM) manifold. Then, by using this SOFNTSM manifold, an ASOFNTSMC scheme is developed for the fully actuated AUVs to track the desired trajectory. The designed SOFNTSM manifold yields local exponential convergence of the position and attitude tracking errors to zero, and the developed ASOFNTSMC scheme ensures that the error trajectories always move toward the SOFNTSM manifold and once they hit the manifold, remain on it in the presence of dynamic uncertainties and time-varying external disturbances. By deriving the expression of the bounding function of the system uncertainty and using adaptive technique to estimate the unknown parameters of the system uncertainty bounds, the ASOFNTSMC scheme does not require the prior knowledge of the upper bound of the system uncertainty. Meanwhile, through involving the discontinuous sign function into the time derivative of the control input, the ASOFNTSMC scheme eliminates the chattering without reducing the tracking precision. Compared with the existing adaptive SONTSM control (ASONTSMC) scheme, the proposed ASOFNTSMC scheme offers a faster convergence rate for the trajectory tracking control of fully actuated AUVs. Two comparative simulation cases performed respectively on two fully actuated AUVs demonstrate the superiority of the ASOFNTSMC scheme over the ASONTSMC scheme.

172 citations


Cites background from "Adaptive non-singular integral term..."

  • ...However, it is a very challenging task to design proper trajectory tracking controller for AUVs due to the notable difficulties such as strongly coupled, highly nonlinear, and uncertain properties of the AUV dynamics as well as the time-varying external disturbances, which are hard to measure or estimate in undersea environments [5]–[9]....

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Journal ArticleDOI
Bo Xu1, Lei Zhang1, Wei Ji1
26 May 2021
TL;DR: A compound control method using improved non-singular fast terminal sliding mode controller (NFTSMC) and disturbance observer compensation techniques are developed and shows that the proposed control method has better suppression of chattering effect, fast dynamic response and disturbance rejection ability.
Abstract: For the purpose of shortening response time and improved anti-disturbance performance of the permanent magnet synchronous motor (PMSM) drives, a compound control method using improved non-singular fast terminal sliding mode controller (NFTSMC) and disturbance observer compensation techniques are developed. First, in order to overcome the contradiction between fast response and heavy chattering of the conventional NFTSMC, a new sliding mode reaching law (NSMRL) is proposed for the improved NFTSMC. The NSMRL, which allows chattering reduction on control output while maintaining high tracking performance of the controller, can dynamically adapt to the variations of the controlled system. Second, to further improve the anti-disturbance performance of the PMSM control system, the sliding mode disturbance observer (SMDO) is introduced to estimate the load disturbance and add to the output of the improved NFTSMC for a feed-forward compensation item. Finally, both the simulation and experimental results applied to PMSM drives show that the proposed control method has better suppression of chattering effect, fast dynamic response, and disturbance rejection ability.

118 citations

Journal ArticleDOI
TL;DR: The rigorous stability analysis based Lyapunov’s method demonstrates the uniform ultimate boundedness of all the tracking errors in the closed-loop system and the effectiveness of the proposed controllers.

112 citations

References
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Book
01 Jan 1991
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Abstract: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).

15,545 citations

Journal ArticleDOI
08 Jul 2003
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Abstract: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.

2,040 citations

Journal ArticleDOI
TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.

1,826 citations

Journal ArticleDOI
TL;DR: A class of bounded continuous time-invariant finite-time stabilizing feedback laws is given for the double integrator because Lyapunov theory is used to prove finite- time convergence.
Abstract: A class of bounded continuous time-invariant finite-time stabilizing feedback laws is given for the double integrator. Lyapunov theory is used to prove finite-time convergence. For the rotational double integrator, these controllers are modified to obtain finite-time-stabilizing feedback that avoid "unwinding".

1,389 citations

Journal ArticleDOI
TL;DR: A robust MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators are developed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed.
Abstract: In this paper, a robust multi-input/multi-output (MIMO) terminal sliding mode control technique is developed for n-link rigid robotic manipulators. It is shown that an MIMO terminal switching plane variable vector is first defined, and the relationship between the terminal switching plane variable vector and system error dynamics is established. By using the MIMO terminal sliding mode technique and a few structural properties of rigid robotic manipulators, a robust controller can then be designed so that the output tracking error can converge to zero in a finite time, and strong robustness with respect to large uncertain dynamics can be guaranteed. It is also shown that the high gain of the terminal sliding mode controllers can be significantly reduced with respect to the one of the linear sliding mode controller where the sampling interval is nonzero. >

853 citations