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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, Volume: 64, Issue: 8, Pages: 6785 - 6795
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.1109/TIE.2017.2694410
Abstract
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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| ISSN: | 0278-0046 1557-9948 |
| Published: |
2017
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa32998 |
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| Abstract: |
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. |
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| Keywords: |
underwater robot, integral sliding mode controller, extended state observer, underwater vehicle |
| College: |
Faculty of Science and Engineering |
| Issue: |
8 |
| Start Page: |
6785 |
| End Page: |
6795 |