TY - GEN
T1 - Back-stepping integral sliding mode control (BISMC) application in a nonlinear autonomous underwater glider
AU - Mat-Noh, Maziyah
AU - Arshad, M. R.
AU - Mohd-Mokhtar, Rosmiwati
AU - Khan, Qudrat
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - This paper presents the evaluation of the backstepping integral sliding mode control implementation in an autonomous underwater glider (AUG). The glider is considered as an underactuated system and it is difficult to maneuver because of its dependency to the operational environment. The nonlinear controller is designed based on nonlinear motion equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate are set as the control inputs to the AUG. The proposed controller is designed for the tracking problem. The controller is designed and tested for the glide path moving from - 25° to 25°. The validity of the proposed controller is demonstrated via numerical simulation. The performance of the proposed controller is also compared to integral sliding mode control (ISMC). The simulation results have shown that the proposed controller demonstrates the reduction in chattering phenomena, steady-state error, and control effort.
AB - This paper presents the evaluation of the backstepping integral sliding mode control implementation in an autonomous underwater glider (AUG). The glider is considered as an underactuated system and it is difficult to maneuver because of its dependency to the operational environment. The nonlinear controller is designed based on nonlinear motion equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate are set as the control inputs to the AUG. The proposed controller is designed for the tracking problem. The controller is designed and tested for the glide path moving from - 25° to 25°. The validity of the proposed controller is demonstrated via numerical simulation. The performance of the proposed controller is also compared to integral sliding mode control (ISMC). The simulation results have shown that the proposed controller demonstrates the reduction in chattering phenomena, steady-state error, and control effort.
KW - Autonomous underwater glider
KW - backstepping
KW - chattering phenomena
KW - intergral sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85050690389&partnerID=8YFLogxK
U2 - 10.1109/USYS.2017.8309448
DO - 10.1109/USYS.2017.8309448
M3 - Conference Proceeding
AN - SCOPUS:85050690389
T3 - 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017
SP - 1
EP - 6
BT - 2017 IEEE 7th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017
Y2 - 18 December 2017 through 20 December 2017
ER -