TY - JOUR
T1 - Adaptive Non-singular Terminal Sliding Mode Control for an Unmanned Underwater Vehicle
T2 - Real-time Experiments
AU - Rangel, Miguel Angel Garcia
AU - Manzanilla, Adrian
AU - Suarez, Angel Eduardo Zamora
AU - Muñoz, Filiberto
AU - Salazar, Sergio
AU - Lozano, Rogelio
N1 - Publisher Copyright:
© 2020, ICROS, KIEE and Springer.
PY - 2020/3/1
Y1 - 2020/3/1
N2 - This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-Singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations.
AB - This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-Singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations.
KW - Non-singular terminal sliding mode controller
KW - real-time experiments
KW - unmanned underwater vehicle
UR - http://www.scopus.com/inward/record.url?scp=85080119519&partnerID=8YFLogxK
U2 - 10.1007/s12555-019-0674-4
DO - 10.1007/s12555-019-0674-4
M3 - Artículo
AN - SCOPUS:85080119519
SN - 1598-6446
VL - 18
SP - 615
EP - 628
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 3
ER -