Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays

Harun Tugal; Kamil Cetin; Xiaoran Han; Ibrahim Kucukdemiral; Joshua Roe; Yvan Petillot; M. Suphi Erden

Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays

Harun Tugal^*, Kamil Cetin, Xiaoran Han, Ibrahim Kucukdemiral, Joshua Roe, Yvan Petillot, M. Suphi Erden

^*Corresponding author for this work

Instrumentation and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to the extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and the time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that, the proposed control method provides significantly better performance than the conventional PID in the presence of extreme disturbances.

Original language	English
Title of host publication	IEEE International Conference on Robotics and Automation
Subtitle of host publication	ICRA'22
Place of Publication	Philadelphia, USA
Publisher	IEEE
Publication status	Accepted/In press - 31 Jan 2022
Event	IEEE International Conference on Robotics and Automation - The Pennsylvania Convention Center, Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 https://www.icra2022.org

Conference

Conference	IEEE International Conference on Robotics and Automation
Abbreviated title	ICRA 2022
Country/Territory	United States
City	Philadelphia
Period	23/05/22 → 27/05/22
Internet address	https://www.icra2022.org

Keywords

sliding mode controller
underwater vehicle

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Documents and Links

Tugal, H. et al (2022) Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays
Copyright © 2022 IEEE. This is a post-peer review, pre-copy edited version of the article and may differ slightly from the final published version of the work. This work is made available in line with the publisher policy. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Author accepted manuscript, 1.05 MB

Cite this

@inproceedings{c73bf34416e140f889e5d074e60f400f,

title = "Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays",

abstract = "Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to the extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and the time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that, the proposed control method provides significantly better performance than the conventional PID in the presence of extreme disturbances.",

keywords = "sliding mode controller, underwater vehicle",

author = "Harun Tugal and Kamil Cetin and Xiaoran Han and Ibrahim Kucukdemiral and Joshua Roe and Yvan Petillot and Erden, {M. Suphi}",

year = "2022",

month = jan,

day = "31",

language = "English",

booktitle = "IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

note = "IEEE International Conference on Robotics and Automation, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",

url = "https://www.icra2022.org",

}

Tugal, H, Cetin, K, Han, X, Kucukdemiral, I, Roe, J, Petillot, Y & Erden, MS 2022, Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays. in IEEE International Conference on Robotics and Automation: ICRA'22. IEEE, Philadelphia, USA, IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, United States, 23/05/22.

Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays. / Tugal, Harun; Cetin, Kamil; Han, Xiaoran; Kucukdemiral, Ibrahim; Roe, Joshua; Petillot, Yvan; Erden, M. Suphi.

IEEE International Conference on Robotics and Automation: ICRA'22. Philadelphia, USA : IEEE, 2022.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays

AU - Tugal, Harun

AU - Cetin, Kamil

AU - Han, Xiaoran

AU - Kucukdemiral, Ibrahim

AU - Roe, Joshua

AU - Petillot, Yvan

AU - Erden, M. Suphi

PY - 2022/1/31

Y1 - 2022/1/31

N2 - Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to the extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and the time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that, the proposed control method provides significantly better performance than the conventional PID in the presence of extreme disturbances.

AB - Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to the extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and the time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that, the proposed control method provides significantly better performance than the conventional PID in the presence of extreme disturbances.

KW - sliding mode controller

KW - underwater vehicle

UR - https://www.icra2022.org/

M3 - Conference contribution

BT - IEEE International Conference on Robotics and Automation

PB - IEEE

CY - Philadelphia, USA

T2 - IEEE International Conference on Robotics and Automation

Y2 - 23 May 2022 through 27 May 2022

ER -

Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays

Abstract

Conference

Keywords

UN SDGs

Documents and Links

Other files and links

Fingerprint

Robust Robotic Manipulation of Physical Structures Under Water

Cite this

Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays

Abstract

Conference

Keywords

UN SDGs

Documents and Links

Other files and links

Fingerprint

Projects

Robust Robotic Manipulation of Physical Structures Under Water

Cite this