Sliding mode control with disturbance estimation for underwater robot.

Motoi, Naoki; Hirayama, Daigo; Yoshimura, Fumito; Sabra, Adham; Fung, Wai-keung

Abstract

This paper proposes a sliding mode control with a disturbance estimation for an underwater robot. The mobility performance of an underwater robot is influenced by modeling error, observation noise, and several disturbances such as ocean current and tidal current. Therefore, a robust control system is needed for precise motion control of an underwater robot. This paper uses a sliding mode control, which is one of the robust control methods. In a sliding mode control, chattering tends to occur, if the switching gain is set to a high value. On the other hand, it is desirable to set the switching gain high from the viewpoint of robustness. Therefore, there is a trade-off between the switching gain and robustness. In the proposed method, the disturbance is estimated in real-time, and this estimated value is added to the control input. Most of the disturbances are compensated by this estimated value, and the sliding mode control is used for the rest of the disturbances. As a result, the robust control system is achieved by using the proposed method, even if the switching gain is set to a low value. The validity of the proposed method was confirmed from the simulation and experimental results.

Citation

MOTOI, N., HIRAYAMA, D., YOSHIMURA, F., SABRA, A. and FUNG, W.-K. 2022. Sliding mode control with disturbance estimation for underwater robot. In Proceedings of 17th IEEE (Institute of Electrical and Electronics Engineers) international conference on Advanced motion control (AMC) 2022 (AMC 2022), 18-20 February 2022, Padova, Italy: [virtual conference]. Available from: https://doi.org/10.1109/AMC51637.2022.9729280

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 17th IEEE (Institute of Electrical and Electronics Engineers) international conference on Advanced motion control (AMC) 2022 (AMC 2022)
• Start Date: Feb 18, 2022
• End Date: Feb 20, 2022
• Acceptance Date: Dec 7, 2021
• Online Publication Date: Feb 20, 2022
• Publication Date: Mar 11, 2022
• Deposit Date: Mar 17, 2022
• Publicly Available Date: Mar 17, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Peer Reviewed: Peer Reviewed
• Pages: 317-322
• Series ISSN: 1943-6580
• Book Title: Proceedings of 17th IEEE (Institute of Electrical and Electronics Engineers) international conference on Advanced motion control (AMC) 2022 (AMC 2022
• DOI: https://doi.org/10.1109/amc51637.2022.9729280
• Keywords: Underwater robot; ROV; AUV; Position contol
• Public URL: https://rgu-repository.worktribe.com/output/1624963