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

doi:10.1109/ICRA46639.2022.9812005

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

9 Citations (Scopus)

471 Downloads (Pure)

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
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	https://doi.org/10.1109/ICRA46639.2022.9812005
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
ISSN (Print)	1050-4729

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 (Link to Conference website)

Keywords

sliding mode controller
underwater vehicle
deep-sea exploration

ASJC Scopus subject areas

Software
Artificial Intelligence
Electrical and Electronic Engineering
Control and Systems Engineering

UN SDGs

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

Documents and Links

10.1109/ICRA46639.2022.9812005

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

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

Cite this

Tugal, H., Cetin, K., Han, X., Kucukdemiral, I., Roe, J., Petillot, Y., & Erden, M. S. (2022). Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 3034-3039). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE. https://doi.org/10.1109/ICRA46639.2022.9812005

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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 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.",

keywords = "sliding mode controller, underwater vehicle, deep-sea exploration",

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

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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 2022 International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, IEEE, pp. 3034-3039, IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9812005

Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays. / Tugal, Harun; Cetin, Kamil; Han, Xiaoran et al.
2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022. p. 3034-3039 (Proceedings - IEEE International Conference on Robotics and Automation).

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 - 2022/7/12

Y1 - 2022/7/12

N2 - 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.

AB - 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.

KW - sliding mode controller

KW - underwater vehicle

KW - deep-sea exploration

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DO - 10.1109/ICRA46639.2022.9812005

M3 - Conference contribution

SN - 9781728196824

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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EP - 3039

BT - 2022 International Conference on Robotics and Automation (ICRA)

PB - IEEE

T2 - IEEE International Conference on Robotics and Automation

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ER -

Tugal H, Cetin K, Han X, Kucukdemiral I, Roe J, Petillot Y et al. Sliding mode controller for positioning of an underwater vehicle subject to disturbances and time delays. In 2022 International Conference on Robotics and Automation (ICRA). IEEE. 2022. p. 3034-3039. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA46639.2022.9812005

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

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Documents and Links

Fingerprint

Projects

Robust Robotic Manipulation of Physical Structures Under Water

Cite this