Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 429215, 13 pages
http://dx.doi.org/10.1155/2015/429215
Research Article

Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, 54100 Kuala Lumpur, Malaysia

Received 17 April 2015; Revised 17 June 2015; Accepted 18 June 2015

Academic Editor: Yong Liu

Copyright © 2015 Zool H. Ismail and Vina W. E. Putranti. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. Y. Tian and A. Zhang, “Development of a guidance and control system for an underwater plume exploring AUV,” in Proceedings of the 8th World Congress on Intelligent Control and Automation (WCICA '10), pp. 6666–6670, Jinan, China, July 2010. View at Publisher · View at Google Scholar · View at Scopus
  2. D. R. Yoerger, A. M. Bradley, M. Jakuba, C. R. German, T. Shank, and M. Tivey, “Autonomous and remotely operated vehicle technology for hydrothermal vent discovery, exploration, and sampling,” Oceanography, vol. 20, no. 1, pp. 152–161, 2007. View at Publisher · View at Google Scholar · View at Scopus
  3. A. Budiyono, “Model predictive control for autonomous underwater vehicle,” Indian Journal of Geo-Marine Sciences, vol. 40, no. 2, pp. 191–199, 2011. View at Google Scholar · View at Scopus
  4. L. Lapierre and B. Jouvencel, “Robust nonlinear path-following control of an AUV,” IEEE Journal of Oceanic Engineering, vol. 33, no. 2, pp. 89–102, 2008. View at Publisher · View at Google Scholar · View at Scopus
  5. S. Bhattacharya, H. Blunck, M. B. Kjargaard, and P. Nurmi, “Robust and energy-efficient trajectory tracking for mobile devices,” IEEE Transactions on Mobile Computing, vol. 14, no. 2, pp. 430–443, 2015. View at Publisher · View at Google Scholar · View at Scopus
  6. M. Perrier and C. C. de-Wit, “Experimental comparison of PID vs. PID plus nonlinear controller for subsea robots,” Autonomous Robots, vol. 3, no. 2-3, pp. 195–212, 1996. View at Publisher · View at Google Scholar · View at Scopus
  7. M. Santhakumar and T. Asokan, “A self-tuning proportional-integral-derivative controller for an autonomous underwater vehicle, Based on Taguchi method,” Journal of Computer Science, vol. 6, no. 8, pp. 862–871, 2010. View at Publisher · View at Google Scholar · View at Scopus
  8. Q. Li, X. H. Shi, and Z. Q. Kang, “The research of fuzzy-PID control based on grey prediction for AUV,” Applied Mechanics and Materials, vol. 246-247, pp. 888–892, 2012. View at Publisher · View at Google Scholar · View at Scopus
  9. Q. Chen, T. Chen, and Y. Zhang, “Research of GA-based PID for AUV motion control,” in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA '09), pp. 4446–4451, August 2009. View at Publisher · View at Google Scholar · View at Scopus
  10. E. Roche, O. Sename, D. Simon, and S. Varrier, “A hierarchical varying sampling H control of an AUV,” in Proceedings of the 18th IFAC World Congress (IFAC WC '11), pp. 14729–14734, Milano, Italy, August 2011. View at Publisher · View at Google Scholar · View at Scopus
  11. Z. H. Ismail and M. W. Dunnigan, “Nonlinear H optimal control scheme for an underwater vehicle with regional function formulation,” Journal of Applied Mathematics, vol. 2013, Article ID 732738, 7 pages, 2013. View at Publisher · View at Google Scholar
  12. N. Q. Hoang and E. Kreuzer, “A robust adaptive sliding mode controller for remotely operated vehicles,” Technische Mechanik, vol. 28, no. 3-4, pp. 185–193, 2007. View at Google Scholar
  13. R. Cristi, F. A. Papoulias, and A. J. Healey, “Adaptive sliding mode control of autonomous underwater vehicles in the dive plane,” IEEE Journal of Oceanic Engineering, vol. 15, no. 3, pp. 152–160, 1990. View at Publisher · View at Google Scholar · View at Scopus
  14. H. Akçakaya, H. A. Yildiz, G. Sağlam, and F. Gürleyen, “Sliding mode control of autonomous underwater vehicle,” in Proceedings of the 6th International Conference on Electrical and Electronics Engineering (ELECO '09), pp. II332–II336, November 2009. View at Scopus
  15. Z. H. Ismail and M. W. Dunnigan, “A region boundary-based control scheme for an autonomous underwater vehicle,” Ocean Engineering, vol. 38, no. 17-18, pp. 2270–2280, 2011. View at Publisher · View at Google Scholar · View at Scopus
  16. X. Li and C. C. Cheah, “Adaptive neural network control of robot based on a unified objective bound,” IEEE Transactions on Control Systems Technology, vol. 22, no. 3, pp. 1032–1043, 2014. View at Publisher · View at Google Scholar · View at Scopus
  17. J. Guo, F.-C. Chiu, and C.-C. Huang, “Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle,” Ocean Engineering, vol. 30, no. 16, pp. 2137–2155, 2003. View at Publisher · View at Google Scholar · View at Scopus
  18. G. V. Lakhekar and V. D. Saundarmal, “Novel adaptive fuzzy sliding mode controller for depth control of an underwater vehicles,” in Proceedings of the IEEE International Conference on Fuzzy Systems (FUZZ '13), pp. 1–7, Hyderabad, India, July 2013. View at Publisher · View at Google Scholar · View at Scopus
  19. J.-H. Li, P.-M. Lee, S. W. Hong, and S. J. Lee, “Stable nonlinear adaptive controller for an autonomous underwater vehicle using neural networks,” International Journal of Systems Science, vol. 38, no. 4, pp. 327–337, 2007. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  20. A. Levant, “Higher-order sliding modes, differentiation and output-feedback control,” International Journal of Control, vol. 76, no. 9-10, pp. 924–941, 2003. View at Publisher · View at Google Scholar · View at MathSciNet · View at Scopus
  21. Y. B. Shtessel, J. A. Moreno, F. Plestan, L. M. Fridman, and A. S. Poznyak, “Super-twisting adaptive sliding mode control: a Lyapunov design,” in Proceedings of the 49th IEEE Conference on Decision and Control (CDC '10), pp. 5109–5113, December 2010. View at Publisher · View at Google Scholar · View at Scopus
  22. T. Salgado-Jiménez, J.-M. Spiewak, P. Fraisse, and B. Jouvencel, “A robust control algorithm for AUV: based on a high order sliding mode,” in Proceedings of the MTTS/IEEE TECHNO-OCEAN '04 (OCEANS '04), vol. 1, pp. 276–281, IEEE, Kobe, Japan, November 2004. View at Publisher · View at Google Scholar
  23. T. I. Fossen and T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley and Sons, First Edition, New York, 2011.
  24. H. T. Choi, A. Hanai, S. K. Choi, and J. Yuh, “Development of an underwater robot, ODIN-III,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '03), vol. 1, pp. 836–841, October 2003. View at Scopus
  25. T. K. Podder and N. Sarkar, “Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy,” Robotics and Autonomous Systems, vol. 34, no. 1, pp. 39–52, 2001. View at Publisher · View at Google Scholar · View at Scopus
  26. J. A. Moreno and M. Osorio, “A Lyapunov approach to second-order sliding mode controllers and observers,” in Proceedings of the 47th IEEE Conference on Decision and Control (CDC '08), pp. 2856–2861, Cancun, Mexico, December 2008. View at Publisher · View at Google Scholar · View at Scopus