TY - JOUR
T1 - Robust 3-D autonomous navigation of submersible ship using averaged sub-gradient version of integral sliding mode
AU - Hernández-Sánchez, Alejandra
AU - Poznyak, Alexander
AU - Chairez, Isaac
AU - Andrianova, Olga
N1 - Publisher Copyright:
© 2020 Elsevier Ltd
PY - 2021/2/15
Y1 - 2021/2/15
N2 - This study presents the design of a state feedback controller for an Unmanned Underwater Mobile Vehicle (UUMV) considering the implementation of an Averaged Sub-Gradient (ASG) version of the Integral Sliding Modes (ISM) method. The control problem is formulated here as an extreme seeking problem for the UUMV dynamics, which must track attainable reference trajectories in three-dimensional space. The dynamic nature of the UUMV induces the application of the extended version of ISM, where the integral term represents an ASG of the tracking error norm. The realized trajectory tracking is compared with the trajectories enforced by a traditional state feedback controller with gravity effect compensation. The proposed controller exhibits better tracking and similar control magnitude than the considered classical state feedback realization. These two results confirm the benefits of introducing the mixed extended strategy, including ISM and ASG as an extreme seeking controller for the considered UUMV.
AB - This study presents the design of a state feedback controller for an Unmanned Underwater Mobile Vehicle (UUMV) considering the implementation of an Averaged Sub-Gradient (ASG) version of the Integral Sliding Modes (ISM) method. The control problem is formulated here as an extreme seeking problem for the UUMV dynamics, which must track attainable reference trajectories in three-dimensional space. The dynamic nature of the UUMV induces the application of the extended version of ISM, where the integral term represents an ASG of the tracking error norm. The realized trajectory tracking is compared with the trajectories enforced by a traditional state feedback controller with gravity effect compensation. The proposed controller exhibits better tracking and similar control magnitude than the considered classical state feedback realization. These two results confirm the benefits of introducing the mixed extended strategy, including ISM and ASG as an extreme seeking controller for the considered UUMV.
KW - Averaged sub-gradient
KW - Extremum seeking problem
KW - Integral sliding modes
KW - Trajectory tracking
KW - Unmanned underwater mobile vehicle
UR - http://www.scopus.com/inward/record.url?scp=85089548153&partnerID=8YFLogxK
U2 - 10.1016/j.ymssp.2020.107169
DO - 10.1016/j.ymssp.2020.107169
M3 - Artículo
AN - SCOPUS:85089548153
SN - 0888-3270
VL - 149
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
M1 - 107169
ER -