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Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification

Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification
Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification
A sliding mode heading control system is developed for overactuated, hover‐capable autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A simplified switching function is introduced, and simulation studies are proposed accordingly. The results with this novel switching function show a significant improvement in the chattering problem when compared to other conventional switching function candidates. Studies on sensitivities to a range of hydrodynamic parameter uncertainties are presented, and the parameters that have major influences on the sliding mode control performance are highlighted. The proposed control system is also proven in the field trials to enhance vehicle response, yielding consistent, and robust performance over the entire range of vehicle's speeds, even when subjected to external disturbance. It also shows superior heading tracking performance when compared to a proportional‐derivative (PD) based approach implemented on the same vehicle. However, this improved performance requires intense control actions as a trade‐off, causing the AUV to expend more energy than with the P‐D approach. Path following trials, where the AUV is demanded to follow a set of GPS coordinates at the water surface, are presented. These demonstrate the applicability of the proposed heading control system in a practical operation. The presented SMC scheme can be applied to any vehicle straightforwardly, but the control allocation part may need to be modified regarding the actuator configuration of that vehicle.
1556-4959
396-415
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f

Tanakitkorn, Kantapon, Wilson, Philip A., Turnock, Stephen R. and Phillips, Alexander B. (2018) Sliding mode heading control of an overactuated, hover-capable autonomous underwater vehicle with experimental verification. Journal of Field Robotics, 35 (3), 396-415. (doi:10.1002/rob.21766).

Record type: Article

Abstract

A sliding mode heading control system is developed for overactuated, hover‐capable autonomous underwater vehicles (AUVs) operating over a range of forward speeds. A simplified switching function is introduced, and simulation studies are proposed accordingly. The results with this novel switching function show a significant improvement in the chattering problem when compared to other conventional switching function candidates. Studies on sensitivities to a range of hydrodynamic parameter uncertainties are presented, and the parameters that have major influences on the sliding mode control performance are highlighted. The proposed control system is also proven in the field trials to enhance vehicle response, yielding consistent, and robust performance over the entire range of vehicle's speeds, even when subjected to external disturbance. It also shows superior heading tracking performance when compared to a proportional‐derivative (PD) based approach implemented on the same vehicle. However, this improved performance requires intense control actions as a trade‐off, causing the AUV to expend more energy than with the P‐D approach. Path following trials, where the AUV is demanded to follow a set of GPS coordinates at the water surface, are presented. These demonstrate the applicability of the proposed heading control system in a practical operation. The presented SMC scheme can be applied to any vehicle straightforwardly, but the control allocation part may need to be modified regarding the actuator configuration of that vehicle.

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Accepted/In Press date: 16 October 2017
e-pub ahead of print date: 13 November 2017
Published date: 16 April 2018

Identifiers

Local EPrints ID: 414999
URI: http://eprints.soton.ac.uk/id/eprint/414999
ISSN: 1556-4959
PURE UUID: 76e86d5f-82f4-4d09-8508-846079d2dc01
ORCID for Philip A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X
ORCID for Stephen R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506

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Date deposited: 20 Oct 2017 16:31
Last modified: 18 Feb 2021 17:03

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