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Tabatabaee-Nasab, Fahimeh S., Moosavian, S. Ali Akbar. (1402). Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach. نشریه مهندسی عمران امیرکبیر, 8(1), 53-66. doi: 10.22060/ajme.2024.22757.6072
Fahimeh S. Tabatabaee-Nasab; S. Ali Akbar Moosavian. "Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach". نشریه مهندسی عمران امیرکبیر, 8, 1, 1402, 53-66. doi: 10.22060/ajme.2024.22757.6072
Tabatabaee-Nasab, Fahimeh S., Moosavian, S. Ali Akbar. (1402). 'Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach', نشریه مهندسی عمران امیرکبیر, 8(1), pp. 53-66. doi: 10.22060/ajme.2024.22757.6072
Tabatabaee-Nasab, Fahimeh S., Moosavian, S. Ali Akbar. Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach. نشریه مهندسی عمران امیرکبیر, 1402; 8(1): 53-66. doi: 10.22060/ajme.2024.22757.6072

Tracking Control of Underwater Vehicles Based on Adaptive Nonlinear Robust Inner/Outer Loop Approach

AUT Journal of Mechanical Engineering
دوره 8، شماره 1، 2024، صفحه 53-66    اصل مقاله (2.38 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.22060/ajme.2024.22757.6072
نویسندگان
Fahimeh S. Tabatabaee-Nasab1، 2؛ S. Ali Akbar Moosavian* 1، 2
1Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Laboratory, Tehran, Iran
2Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran
چکیده
Highly nonlinear systems with parametric uncertainties and external disturbances deteriorate the tracking control performance of autonomous underwater vehicles. In this research, to attain- optimal precision, an adaptive integral-type terminal sliding mode controller is proposed. To this end, the kinematics and kinetics controller laws are developed as the outer and inner loop control to track desired trajectories. The kinematics controller, as the outer controller, is developed to control the position errors. The kinetics controller, as the inner servo loop, is developed based on the system dynamics model and an adaptive integral-exponential sliding surface to control the internal velocity errors. In order to enhance the control proficiency, we have implemented an adaptive switching rule within the kinetic control algorithm, enabling an automated adjustment of all controller parameters. Therefore, the increase and decrease of these switching parameters will occur according to the system conditions, while its stability is guaranteed using Lyapunov theorems. The obtained results show the merits of the proposed controller in terms of high accuracy performance and low computation cost for real-time implementations.
کلیدواژه‌ها
Adaptive Terminal Sliding Mode Control؛ Position Control؛ Autonomous Underwater Vehicles (AUV)؛ Trajectory Tracking
مراجع
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