Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

Maziyah Mat Noh; M. R. Arshad; Rosmiwati Mohd-Mokhtar; Zainah Md Zain; Qudrat Khan; Herdawati Abdul Kadir

doi:10.1007/978-981-13-3708-6_8

Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

Maziyah Mat Noh^*, M. R. Arshad, Rosmiwati Mohd-Mokhtar, Zainah Md Zain, Qudrat Khan, Herdawati Abdul Kadir

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.

Original language	English
Title of host publication	Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018
Editors	Zainah Md Zain, Hamzah Ahmad, Dwi Pebrianti, Mahfuzah Mustafa, Nor Rul Hasma Abdullah, Rosdiyana Samad, Maziyah Mat Noh
Publisher	Springer Verlag
Pages	79-97
Number of pages	19
ISBN (Print)	9789811337079
DOIs	https://doi.org/10.1007/978-981-13-3708-6_8
Publication status	Published - 2019
Externally published	Yes
Event	10th National Technical Seminar on Underwater System Technology, NUSYS 2018 - Pahang, Malaysia Duration: 26 Sept 2018 → 27 Sept 2018

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	538
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	10th National Technical Seminar on Underwater System Technology, NUSYS 2018
Country/Territory	Malaysia
City	Pahang
Period	26/09/18 → 27/09/18

Keywords

Autonomous underwater glider (AUG)
Backstepping
Chattering reduction
Super twisting sliding mode control

Access to Document

10.1007/978-981-13-3708-6_8

Cite this

Mat Noh, M., Arshad, M. R., Mohd-Mokhtar, R., Md Zain, Z., Khan, Q., & Abdul Kadir, H. (2019). Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. In Z. Md Zain, H. Ahmad, D. Pebrianti, M. Mustafa, N. R. H. Abdullah, R. Samad, & M. Mat Noh (Eds.), Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018 (pp. 79-97). (Lecture Notes in Electrical Engineering; Vol. 538). Springer Verlag. https://doi.org/10.1007/978-981-13-3708-6_8

Mat Noh, Maziyah ; Arshad, M. R. ; Mohd-Mokhtar, Rosmiwati et al. / Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. editor / Zainah Md Zain ; Hamzah Ahmad ; Dwi Pebrianti ; Mahfuzah Mustafa ; Nor Rul Hasma Abdullah ; Rosdiyana Samad ; Maziyah Mat Noh. Springer Verlag, 2019. pp. 79-97 (Lecture Notes in Electrical Engineering).

@inproceedings{5e59dba922c34ca790a6271a07c2b67a,

title = "Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm",

abstract = "This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.",

keywords = "Autonomous underwater glider (AUG), Backstepping, Chattering reduction, Super twisting sliding mode control",

author = "{Mat Noh}, Maziyah and Arshad, {M. R.} and Rosmiwati Mohd-Mokhtar and {Md Zain}, Zainah and Qudrat Khan and {Abdul Kadir}, Herdawati",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Singapore Pte Ltd.; 10th National Technical Seminar on Underwater System Technology, NUSYS 2018 ; Conference date: 26-09-2018 Through 27-09-2018",

year = "2019",

doi = "10.1007/978-981-13-3708-6_8",

language = "English",

isbn = "9789811337079",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Verlag",

pages = "79--97",

editor = "{Md Zain}, Zainah and Hamzah Ahmad and Dwi Pebrianti and Mahfuzah Mustafa and Abdullah, {Nor Rul Hasma} and Rosdiyana Samad and {Mat Noh}, Maziyah",

booktitle = "Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018",

}

Mat Noh, M, Arshad, MR, Mohd-Mokhtar, R, Md Zain, Z, Khan, Q & Abdul Kadir, H 2019, Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. in Z Md Zain, H Ahmad, D Pebrianti, M Mustafa, NRH Abdullah, R Samad & M Mat Noh (eds), Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. Lecture Notes in Electrical Engineering, vol. 538, Springer Verlag, pp. 79-97, 10th National Technical Seminar on Underwater System Technology, NUSYS 2018, Pahang, Malaysia, 26/09/18. https://doi.org/10.1007/978-981-13-3708-6_8

Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. / Mat Noh, Maziyah; Arshad, M. R.; Mohd-Mokhtar, Rosmiwati et al.
Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. ed. / Zainah Md Zain; Hamzah Ahmad; Dwi Pebrianti; Mahfuzah Mustafa; Nor Rul Hasma Abdullah; Rosdiyana Samad; Maziyah Mat Noh. Springer Verlag, 2019. p. 79-97 (Lecture Notes in Electrical Engineering; Vol. 538).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

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AU - Mat Noh, Maziyah

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AB - This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.

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ER -

Mat Noh M, Arshad MR, Mohd-Mokhtar R, Md Zain Z, Khan Q, Abdul Kadir H. Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. In Md Zain Z, Ahmad H, Pebrianti D, Mustafa M, Abdullah NRH, Samad R, Mat Noh M, editors, Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 - NUSYS 2018. Springer Verlag. 2019. p. 79-97. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-13-3708-6_8

Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

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