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Development of controller for an underactuated autonomous underwater vehicle (AUV)

The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of c...

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Main Authors: Mat-Noh, Maziyah, Zain, Zainah Md, Abd Ghani, N. M., Abdul Wahab, Yasmin, Razali, Akhtar Razul
Format: Research Report
Language:English
Published: 2019
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/36322/1/Development%20of%20controller%20for%20an%20underactuated%20autonomous%20underwater%20vehicle%20%28AUV%29.wm.pdf
http://umpir.ump.edu.my/id/eprint/36322/
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spelling my.ump.umpir.363222023-02-16T03:06:32Z http://umpir.ump.edu.my/id/eprint/36322/ Development of controller for an underactuated autonomous underwater vehicle (AUV) Mat-Noh, Maziyah Zain, Zainah Md Abd Ghani, N. M. Abdul Wahab, Yasmin Razali, Akhtar Razul TK Electrical engineering. Electronics Nuclear engineering The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of control algorithm. For this reason, the main objective of this research is to formulate the control law that has the capability in facing the external disturbances and uncertainties due its hydrodynamics coefficients. As a result, a robust and reliable has been designed using back-stepping super twisting sliding mode control algorithm (BSTSMC) for nonlinear model of longitudinal plane of an AUG. The BSTSMC was tested for external disturbance and parameter variations. The BSTSMC has been benchmarked its performances with other sliding mode control (SMC) strategies to evaluate the chattering suppression of the controllers. The BSTSMC was benchmarked with super twisting SMC (STSMC) and back-stepping SMC. The simulation results have shown that the proposed controller provides the smallest chattering about more than 1000 times smaller than STSMC, more than 100 times smaller than back-stepping SMC in nominal, disturbance and parameter variation cases respectively. The steady error of the proposed controller also gives the smallest steady state error of four times smaller than STSMC and back-stepping SMC in all cases for pitching angle and 100 times smaller than STSMC and back-stepping for excess mass. The proposed controller is a new chattering suppression method which provides the smallest steady state error and chattering has been also suppressed in all cases. 2019 Research Report NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/36322/1/Development%20of%20controller%20for%20an%20underactuated%20autonomous%20underwater%20vehicle%20%28AUV%29.wm.pdf Mat-Noh, Maziyah and Zain, Zainah Md and Abd Ghani, N. M. and Abdul Wahab, Yasmin and Razali, Akhtar Razul (2019) Development of controller for an underactuated autonomous underwater vehicle (AUV). , [Research Report: Research Report] (Unpublished)
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mat-Noh, Maziyah
Zain, Zainah Md
Abd Ghani, N. M.
Abdul Wahab, Yasmin
Razali, Akhtar Razul
Development of controller for an underactuated autonomous underwater vehicle (AUV)
description The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of control algorithm. For this reason, the main objective of this research is to formulate the control law that has the capability in facing the external disturbances and uncertainties due its hydrodynamics coefficients. As a result, a robust and reliable has been designed using back-stepping super twisting sliding mode control algorithm (BSTSMC) for nonlinear model of longitudinal plane of an AUG. The BSTSMC was tested for external disturbance and parameter variations. The BSTSMC has been benchmarked its performances with other sliding mode control (SMC) strategies to evaluate the chattering suppression of the controllers. The BSTSMC was benchmarked with super twisting SMC (STSMC) and back-stepping SMC. The simulation results have shown that the proposed controller provides the smallest chattering about more than 1000 times smaller than STSMC, more than 100 times smaller than back-stepping SMC in nominal, disturbance and parameter variation cases respectively. The steady error of the proposed controller also gives the smallest steady state error of four times smaller than STSMC and back-stepping SMC in all cases for pitching angle and 100 times smaller than STSMC and back-stepping for excess mass. The proposed controller is a new chattering suppression method which provides the smallest steady state error and chattering has been also suppressed in all cases.
format Research Report
author Mat-Noh, Maziyah
Zain, Zainah Md
Abd Ghani, N. M.
Abdul Wahab, Yasmin
Razali, Akhtar Razul
author_facet Mat-Noh, Maziyah
Zain, Zainah Md
Abd Ghani, N. M.
Abdul Wahab, Yasmin
Razali, Akhtar Razul
author_sort Mat-Noh, Maziyah
title Development of controller for an underactuated autonomous underwater vehicle (AUV)
title_short Development of controller for an underactuated autonomous underwater vehicle (AUV)
title_full Development of controller for an underactuated autonomous underwater vehicle (AUV)
title_fullStr Development of controller for an underactuated autonomous underwater vehicle (AUV)
title_full_unstemmed Development of controller for an underactuated autonomous underwater vehicle (AUV)
title_sort development of controller for an underactuated autonomous underwater vehicle (auv)
publishDate 2019
url http://umpir.ump.edu.my/id/eprint/36322/1/Development%20of%20controller%20for%20an%20underactuated%20autonomous%20underwater%20vehicle%20%28AUV%29.wm.pdf
http://umpir.ump.edu.my/id/eprint/36322/
_version_ 1758578237329375232
score 13.211869

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