TY - GEN
T1 - Control of an autonomous underwater glider using integral super-twisting sliding mode control (ISTSMC)
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 - Development of a robust controller for an autonomous underwater glider (AUG) is a challenging task since a glider is an under-actuated and highly nonlinear system. In this paper a robust integral sliding mode with super-twisting algorithm is proposed for the trajectory tracking control of an autonomous underwater glider with external disturbances. The simulations are restricted to longitudinal plane of the glider. The control scheme is developed based on a integral sliding mode control (ISMC) and super-twisting sliding mode control. The advantages of this approach are easy implementation, the stabilization is in finite time, and the robustness is guaranteed. The performance of the proposed control algorithm is compared to original ISMC. Simulation results have shown that the proposed control system demonstrated a good performance under nominal system and a better rejection of the induced disturbance as compared to integral sliding mode control.
AB - Development of a robust controller for an autonomous underwater glider (AUG) is a challenging task since a glider is an under-actuated and highly nonlinear system. In this paper a robust integral sliding mode with super-twisting algorithm is proposed for the trajectory tracking control of an autonomous underwater glider with external disturbances. The simulations are restricted to longitudinal plane of the glider. The control scheme is developed based on a integral sliding mode control (ISMC) and super-twisting sliding mode control. The advantages of this approach are easy implementation, the stabilization is in finite time, and the robustness is guaranteed. The performance of the proposed control algorithm is compared to original ISMC. Simulation results have shown that the proposed control system demonstrated a good performance under nominal system and a better rejection of the induced disturbance as compared to integral sliding mode control.
KW - Autonomous underwater glider
KW - chattering phenomena
KW - integral sliding mode control
KW - super-twisting sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85050666250&partnerID=8YFLogxK
U2 - 10.1109/USYS.2017.8309447
DO - 10.1109/USYS.2017.8309447
M3 - Conference Proceeding
AN - SCOPUS:85050666250
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 -