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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation
Subtitle of host publicationICRA'22
Place of PublicationPhiladelphia, USA
PublisherIEEE
Publication statusAccepted/In press - 31 Jan 2022
EventIEEE International Conference on Robotics and Automation - The Pennsylvania Convention Center, Philadelphia, United States
Duration: 23 May 202227 May 2022
https://www.icra2022.org

Conference

ConferenceIEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22
Internet address

Keywords

  • sliding mode controller
  • underwater vehicle

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