TY - GEN
T1 - Back-stepping sliding mode control strategy for 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 - 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. This paper presents a robust back-stepping sliding mode controller for the trajectory tracking control of a glider with external disturbances. The simulations are performed for the longitudinal plane of the glider. The controller is developed using back-stepping technique and introducing the sliding surface at the final stage of the algorithm. Since the Lyapunov theorem is used when deriving the control law, thus he asymptotical stability of the system can be guaranteed. Simulation results have shown that the proposed control system not only achieves satisfactory control performance, but also reduction of the chattering phenomena, and reduction in the control effort.
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. This paper presents a robust back-stepping sliding mode controller for the trajectory tracking control of a glider with external disturbances. The simulations are performed for the longitudinal plane of the glider. The controller is developed using back-stepping technique and introducing the sliding surface at the final stage of the algorithm. Since the Lyapunov theorem is used when deriving the control law, thus he asymptotical stability of the system can be guaranteed. Simulation results have shown that the proposed control system not only achieves satisfactory control performance, but also reduction of the chattering phenomena, and reduction in the control effort.
KW - Autonomous underwater glider
KW - back-stepping
KW - nonlinear model
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85050507891&partnerID=8YFLogxK
U2 - 10.1109/ICET.2017.8281729
DO - 10.1109/ICET.2017.8281729
M3 - Conference Proceeding
AN - SCOPUS:85050507891
T3 - Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
SP - 1
EP - 6
BT - Proceedings - 2017 13th International Conference on Emerging Technologies, ICET2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Emerging Technologies, ICET2017
Y2 - 27 December 2017 through 28 December 2017
ER -