Disturbance estimator based non-singular fast fuzzy terminal sliding mode control of an autonomous underwater vehicle

Abstract In this paper, a robust finite time trajectory tracking control approach is proposed for autonomous underwater vehicle (AUV), which belongs to the class of highly nonlinear, coupled dynamics with motion in 6-degrees-of-freedom (DOF). The finite-time error convergence and robust control task is accomplished by designing a non-singular fast fuzzy terminal sliding mode controller (NFFTSMC) with disturbance estimator for the 6-DOF dynamics of an AUV. The proposed NFFTSMC incorporates a non-singular fast terminal sliding mode controller (NFTSMC) which not only assures faster and finite convergence of the tracking errors to the equilibrium from anywhere in the phase portrait but also eliminates the issue of singularity dilemma appeared in conventional terminal sliding mode controller (TSMC); a fuzzy logic control (FLC) tool is employed to generate the hitting control signal in order to reduce chattering in control inputs, which commonly occur in conventional TSMC, and an estimated uncertainty term to compensate for the un-modeled dynamics, external disturbances, and time-varying parameters. Furthermore to investigate the effectiveness of the proposed method, it has been extended to task space control problem of an AUV - manipulator system (AUVMS) employed for underwater manipulation tasks. Simulation studies confirms the potency of the proposed method.

[1]  Zhiyong Geng,et al.  Finite-time optimal formation tracking control of vehicles in horizontal plane , 2014 .

[2]  Yongji Wang,et al.  Improved nonsingular fast terminal sliding mode controller for nonlinear systems , 2014, 2014 International Conference on Mechatronics and Control (ICMC).

[3]  Liang Yang,et al.  Nonsingular fast terminal sliding‐mode control for nonlinear dynamical systems , 2011 .

[4]  C.-C. Huang,et al.  Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle , 2003 .

[5]  Cheruvu Siva Kumar,et al.  Robust trajectory control of underwater vehicles using time delay control law , 2007 .

[6]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[7]  Alireza Khosravi,et al.  Model reference adaptive PID control with anti-windup compensator for an autonomous underwater vehicle , 2016, Robotics Auton. Syst..

[8]  Marco Jacobi.  Autonomous inspection of underwater structures , 2015, Robotics Auton. Syst..

[9]  Zhihong Man,et al.  Non-singular terminal sliding mode control of rigid manipulators , 2002, Autom..

[10]  Chintae Choi,et al.  Practical Nonsingular Terminal Sliding-Mode Control of Robot Manipulators for High-Accuracy Tracking Control , 2009, IEEE Transactions on Industrial Electronics.

[11]  Yuan Ge,et al.  Adaptive computed torque control for a parallel manipulator with redundant actuation , 2011, Robotica.

[12]  Abhijit S. Pandya,et al.  On-line learning control of autonomous underwater vehicles using feedforward neural networks , 1992 .

[13]  Hyun-Sik Kim,et al.  Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control , 2007 .

[14]  G. Antonelli.  On the Use of Adaptive/Integral Actions for Six-Degrees-of-Freedom Control of Autonomous Underwater Vehicles , 2007, IEEE Journal of Oceanic Engineering.

[15]  Jean-Jacques E. Slotine,et al.  Robust trajectory control of underwater vehicles , 1985 .

[16]  Edwin Kreuzer,et al.  Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller , 2008, Robotics Auton. Syst..

[17]  P. S. Londhe,et al.  Enhanced dynamic fuzzy sliding mode controller for autonomous underwater vehicles , 2015, 2015 IEEE Underwater Technology (UT).

[18]  A. J. Healey,et al.  Adaptive sliding mode control of autonomous underwater vehicles in the dive plane , 1990 .

[19]  Shuang Cong,et al.  Robust nonlinear control of a planar 2-DOF parallel manipulator with redundant actuation , 2014 .

[20]  A. J. Healey,et al.  Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles , 1993 .

[21]  Laxman M. Waghmare,et al.  Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme with disturbance estimator , 2017 .

[22]  Balasaheb M. Patre,et al.  Robust proportional derivative (PD)-like fuzzy control designs for diving and steering planes control of an autonomous underwater vehicle , 2017, J. Intell. Fuzzy Syst..

[23]  Chih-Chiang Chen,et al.  Study of Nonsingular Fast Terminal Sliding-Mode Fault-Tolerant Control , 2015, IEEE Transactions on Industrial Electronics.

[24]  Hangil Joe,et al.  Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances , 2016, IEEE Transactions on Industrial Electronics.

[25]  S. T. Venkataraman,et al.  Control of Nonlinear Systems Using Terminal Sliding Modes , 1993 .

[26]  N. Ranganathan,et al.  An intelligent system for failure detection and control in an autonomous underwater vehicle , 2001, IEEE Trans. Syst. Man Cybern. Part A.

[27]  Okyay Kaynak,et al.  The fusion of computationally intelligent methodologies and sliding-mode control-a survey , 2001, IEEE Trans. Ind. Electron..

[28]  Gianluca Antonelli,et al.  Underwater robots: Motion and force control of vehicle , 2006 .

[29]  Edwin Kreuzer,et al.  An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles , 2010, Robotics Auton. Syst..

[30]  Bin Xu,et al.  Neuro-fuzzy control of underwater vehicle-manipulator systems , 2012, J. Frankl. Inst..

[31]  Przemyslaw Herman,et al.  Decoupled PD set-point controller for underwater vehicles , 2009 .

[32]  Zhou Shuo.  Nonsingular fast terminal sliding mode control method and its application on permanent magnet synchronous motor , 2015, 2015 34th Chinese Control Conference (CCC).

[33]  Khoshnam Shojaei,et al.  Line-of-Sight Target Tracking Control of Underactuated Autonomous Underwater Vehicles , 2017 .

[34]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[35]  Sarangapani Jagannathan,et al.  One-layer neural-network controller with preprocessed inputs for autonomous underwater vehicles , 2003, IEEE Trans. Veh. Technol..

[36]  Song Xin,et al.  A fuzzy sliding mode controller with adaptive disturbance approximation for underwater robot , 2010, 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010).

[37]  Sankar Nath Shome,et al.  Robust position control of an autonomous underwater vehicle: A comparative study , 2013, 2013 IEEE International Conference on Automation Science and Engineering (CASE).

[38]  Tianrui Li,et al.  Optimization-based model reference adaptive control for dynamic positioning of a fully actuated underwater vehicle , 2017 .

[39]  S. M. Smith,et al.  Fuzzy logic control of an autonomous underwater vehicle , 1993 .

[40]  Xinghuo Yu,et al.  On nonsingular terminal sliding-mode control of nonlinear systems , 2013, Autom..

[41]  Jinwhan Kim,et al.  Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances , 2015, Int. J. Control.

[42]  Changyin Sun,et al.  Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[43]  Kouhei Ohnishi,et al.  Motion Control Systems , 2011 .

[44]  Balasaheb M. Patre,et al.  Task Space Control of an Autonomous Underwater Vehicle Manipulator System by Robust Single-Input Fuzzy Logic Control Scheme , 2017, IEEE Journal of Oceanic Engineering.

[45]  Balasaheb M. Patre,et al.  Robust nonlinear task space position tracking control of an autonomous underwater vehicle-manipulator system , 2015, 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[46]  Shuzhi Sam Ge,et al.  Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control , 2017, IEEE Transactions on Cybernetics.

[47]  Kamal Youcef-Toumi,et al.  Trajectory tracking sliding mode control of underactuated AUVs , 2015 .

[48]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[49]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[50]  H. Komurcugil,et al.  Fast terminal sliding mode control for single-phase UPS inverters , 2011, 2011 IEEE International Symposium on Industrial Electronics.

[51]  Lina Geng,et al.  Fast nonsingular integral terminal sliding mode control for nonlinear dynamical systems , 2014, CDC.

[52]  B. Jalving,et al.  The NDRE-AUV flight control system , 1994 .

[53]  Aiqun Zhang,et al.  Discrete-time quasi-sliding mode control of underwater vehicles , 2010, 2010 8th World Congress on Intelligent Control and Automation.

[54]  Juhyun Pyo,et al.  Variable-structure PID controller with anti-windup for autonomous underwater vehicle , 2013, 2013 OCEANS - San Diego.

[55]  Nilanjan Sarkar,et al.  Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization , 2001 .

[56]  Mansour Karkoub,et al.  Nonlinear trajectory-tracking control of an autonomous underwater vehicle , 2017 .

[57]  Aghil Yousefi-Koma,et al.  Three-dimensional optimal path planning for waypoint guidance of an autonomous underwater vehicle , 2015, Robotics Auton. Syst..

[58]  Hong Ren Wu,et al.  A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators , 1994, IEEE Trans. Autom. Control..

[59]  Syuan-Yi Chen,et al.  Robust Nonsingular Terminal Sliding-Mode Control for Nonlinear Magnetic Bearing System , 2011, IEEE Transactions on Control Systems Technology.

[60]  Gianluca Antonelli,et al.  A novel adaptive control law for underwater vehicles , 2003, IEEE Trans. Control. Syst. Technol..

[61]  B. Jouvencel,et al.  Using a high order sliding modes for diving control a torpedo autonomous underwater vehicle , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[62]  R. Bozorgmehry Boozarjomehry,et al.  A fuzzy sliding mode control approach for nonlinear chemical processes , 2009 .

[63]  Vadim I. Utkin,et al.  A control engineer's guide to sliding mode control , 1999, IEEE Trans. Control. Syst. Technol..

[64]  P. S. Londhe,et al.  Non-singular terminal sliding mode control for robust trajectory tracking control of an autonomous underwater vehicle , 2017, 2017 Indian Control Conference (ICC).

[65]  Peng Shi,et al.  Adaptive Neural Fault-Tolerant Control of a 3-DOF Model Helicopter System , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[66]  Laxman M. Waghmare,et al.  Uncertainty and disturbance estimator based sliding mode control of an autonomous underwater vehicle , 2017 .

[67]  Shinichi Sagara,et al.  Digital type disturbance compensation control of a floating underwater robot with 2 link manipulator , 2008, Artificial Life and Robotics.

[68]  Kamal Youcef-Toumi,et al.  Terminal sliding mode control for the trajectory tracking of underactuated Autonomous Underwater Vehicles , 2017 .

[69]  P. S. Londhe,et al.  Fuzzy Sliding Mode Control for Spatial Control of Large Nuclear Reactor , 2015, IEEE Transactions on Nuclear Science.

[70]  Zool Hilmi Ismail.  Task-space dynamic control of underwater robots , 2011 .

[71]  Jinwhan Kim,et al.  Coordinated motion control in task space of an autonomous underwater vehicle–manipulator system , 2015 .

[72]  L. Rodrigues,et al.  Sliding mode control of an AUV in the diving and steering planes , 1996, OCEANS 96 MTS/IEEE Conference Proceedings. The Coastal Ocean - Prospects for the 21st Century.

[73]  Feijun Song,et al.  Autonomous Underwater Vehicle Control Using Fuzzy Logic , 2001 .

[74]  M. Santhakumar,et al.  Power efficient dynamic station keeping control of a flat-fish type autonomous underwater vehicle through design modifications of thruster configuration , 2013 .

[75]  Son-Cheol Yu,et al.  Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances , 2014, Nonlinear Dynamics.

[76]  Rafael Kelly,et al.  Control of Robot Manipulators in Joint Space , 2005 .

[77]  H. W. Shim,et al.  Workspace control system of underwater tele-operated manipulators on ROVs , 2009, OCEANS 2009-EUROPE.

[78]  Shuang Cong,et al.  Motion Control of Parallel Manipulators Using Acceleration Feedback , 2014, IEEE Transactions on Control Systems Technology.

[79]  Yuan Ge,et al.  Coordination Motion Control in the Task Space for Parallel Manipulators With Actuation Redundancy , 2013, IEEE Transactions on Automation Science and Engineering.