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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 extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and 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 better performance than the conventional PID in the presence of extreme disturbances with less control efforts.
Original language | English |
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Title of host publication | 2022 International Conference on Robotics and Automation (ICRA) |
Publisher | IEEE |
Pages | 3034-3039 |
Number of pages | 6 |
ISBN (Electronic) | 9781728196817 |
ISBN (Print) | 9781728196824 |
DOIs | |
Publication status | Published - 12 Jul 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 (Link to Conference website) |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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ISSN (Print) | 1050-4729 |
Conference
Conference | IEEE International Conference on Robotics and Automation |
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Abbreviated title | ICRA 2022 |
Country/Territory | United States |
City | Philadelphia |
Period | 23/05/22 → 27/05/22 |
Internet address |
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Keywords
- sliding mode controller
- underwater vehicle
- deep-sea exploration
ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering
Fingerprint
Dive into the research topics of 'Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays'. Together they form a unique fingerprint.Projects
- 1 Finished
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Robust Robotic Manipulation of Physical Structures Under Water
küçükdemiral, I. (CoI) & Suphi Erden, M. (PI)
Engineering and Physical Sciences Research Council
1/01/20 → 31/12/20
Project: Research Grant