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Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot with Unknown Disturbances and Uncertain Nonlinearities / Rongxin Cui; Lepeng Chen; Chenguang Yang; Mou Chen
IEEE Transactions on Industrial Electronics, Pages: 1 - 1
Swansea University Author: Yang, Chenguang
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This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances and uncertain hydrodynamics of...
|Published in:||IEEE Transactions on Industrial Electronics|
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This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances and uncertain hydrodynamics of the robot have been successfully solved in the control design. An adaptive MIMO-ESO is designed not only to estimate the unmeasurable linear and angular velocities, but also to estimate the unknown external disturbances. An ISMC is then designed using Lyapunov synthesis, and an adaptive gain update algorithm is introduced to estimate the upper bound of the uncertainties. Rigorous theoretical analysis is performed to show that the proposed control method is able to achieve asymptotical tracking performance for the underwater robot. Experimental studies are also carried out to validate the effectiveness of the proposed control, and to show that the proposed approach performs better than conventional PD control approach.
Underwater robots have been increasingly employed in marine resources exploration, and their high-precision control performance are necessary to ensure the quality of the collected data. However, disturbances in the oceanic environments such as waves, tides, currents and upward or downward streams, together with robot model uncertainties and nonlinearities cause significant challenges to the control design. To overcome these difficulties, state estimation and robust control approaches are effectively integrated to achieve asymptotic convergence of both estimation error and motion error. In comparison to the conventional approach, experimental studies demonstrate superior performance of the proposed method, which can be applied to any full-actuated underwater robot.
underwater robot, integral sliding mode controller, extended state observer, underwater vehicle
College of Engineering