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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...

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Published in: IEEE Transactions on Industrial Electronics
ISSN: 0278-0046 1557-9948
Published: 2017
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URI: https://cronfa.swan.ac.uk/Record/cronfa32998
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spelling 2020-12-18T10:06:21.6982481 v2 32998 2017-04-18 Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities d2a5024448bfac00a9b3890a8404380b Chenguang Yang Chenguang Yang true false 2017-04-18 EEN 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. Journal Article IEEE Transactions on Industrial Electronics 64 8 6785 6795 0278-0046 1557-9948 underwater robot, integral sliding mode controller, extended state observer, underwater vehicle 31 12 2017 2017-12-31 10.1109/TIE.2017.2694410 COLLEGE NANME Engineering COLLEGE CODE EEN Swansea University 2020-12-18T10:06:21.6982481 2017-04-18T03:19:32.8324073 Faculty of Science and Engineering School of Engineering and Applied Sciences - Uncategorised Rongxin Cui 1 Lepeng Chen 2 Chenguang Yang 3 Mou Chen 4 0032998-18042017032134.pdf TIE-16-TIE-3074R2-final.pdf 2017-04-18T03:21:34.9670000 Output 2028061 application/pdf Accepted Manuscript true 2017-04-18T00:00:00.0000000 true eng 0032998-24092018090510.pdf cui2018(2).pdf 2018-09-24T09:05:10.2570000 Output 166547 application/pdf Accepted Manuscript true 2018-09-24T00:00:00.0000000 Correction to AAM. true eng
title Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
spellingShingle Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
Chenguang Yang
title_short Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
title_full Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
title_fullStr Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
title_full_unstemmed Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
title_sort Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities
author_id_str_mv d2a5024448bfac00a9b3890a8404380b
author_id_fullname_str_mv d2a5024448bfac00a9b3890a8404380b_***_Chenguang Yang
author Chenguang Yang
author2 Rongxin Cui
Lepeng Chen
Chenguang Yang
Mou Chen
format Journal article
container_title IEEE Transactions on Industrial Electronics
container_volume 64
container_issue 8
container_start_page 6785
publishDate 2017
institution Swansea University
issn 0278-0046
1557-9948
doi_str_mv 10.1109/TIE.2017.2694410
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Engineering and Applied Sciences - Uncategorised{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Engineering and Applied Sciences - Uncategorised
document_store_str 1
active_str 0
description 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.
published_date 2017-12-31T03:40:36Z
_version_ 1763751846494601216
score 11.016235

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