TY - GEN
T1 - Nonsingular fast terminal sliding mode control for an autonomous underwater vehicle
AU - Suarez, Angel E.Zamora
AU - Rangel, Miguel Angel Garcia
AU - Magallanes, Adrian Manzanilla
AU - Leal, Rogelio Lozano
AU - Cruz, Sergio Salazar
AU - Palacios, Filiberto Munoz
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/9
Y1 - 2019/9
N2 - In this article, the mathematical model based on quaternions for an underwater autonomous vehicle (AUV) of 6 DOF is developed, to avoid singularities that appear in the representation of Euler's angles. For this vehicle, a Non-Singular Fast Terminal Sliding Mode Control (NFTSMC) non-linear controller is proposed, which presents a variation in the sliding surface that guarantees a high rate of convergence of the states in finite time. To verify the stability of the closed-loop control system, an approach of the Lyapunov theory is used, ensuring the convergence in finite time of the tracking errors to a bounded region in the presence of model uncertainties and disturbances. Simulations results are presented to illustrate the efficiency of the developed strategy.
AB - In this article, the mathematical model based on quaternions for an underwater autonomous vehicle (AUV) of 6 DOF is developed, to avoid singularities that appear in the representation of Euler's angles. For this vehicle, a Non-Singular Fast Terminal Sliding Mode Control (NFTSMC) non-linear controller is proposed, which presents a variation in the sliding surface that guarantees a high rate of convergence of the states in finite time. To verify the stability of the closed-loop control system, an approach of the Lyapunov theory is used, ensuring the convergence in finite time of the tracking errors to a bounded region in the presence of model uncertainties and disturbances. Simulations results are presented to illustrate the efficiency of the developed strategy.
KW - AUV
KW - NFTSMC
KW - Quaternions
KW - Trajectory tracking
KW - Underwater vehicle
UR - http://www.scopus.com/inward/record.url?scp=85075110845&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2019.8884505
DO - 10.1109/ICEEE.2019.8884505
M3 - Contribución a la conferencia
AN - SCOPUS:85075110845
T3 - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
BT - 2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2019
Y2 - 11 September 2019 through 13 September 2019
ER -