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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 |
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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 |
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Abbreviated title | ICRA 2022 |
Country/Territory | United States |
City | Philadelphia |
Period | 23/05/22 → 27/05/22 |
Internet address |
Keywords
- sliding mode controller
- underwater vehicle
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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. & Suphi Erden, M.
Engineering and Physical Sciences Research Council (EPSRC)
1/01/20 → 31/12/20
Project: Research Grant