PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel approach is proposed for the trajectory tracking control of Autonomous Underwater Vehicles (AUVs). Firstly, previous implementations of Proportional-Integral-Derivative (PID) and Sliding Mode Control (SMC) are discussed and their disadvantages are highlighted in terms of fixed time convergence and the chattering phenomenon. Secondly, to improve the stability of the tracking performance and convergence of the system, a controller combining PID and Fixed Time SMC (FTSMC) is proposed for AUVs. The proposed controller is then applied to simulate a 6 Degrees-of-Freedom (6DOF) BlueRov2 underwater robot and the results are analytically discussed. The simulation results show that the proposed PID-FTSMC controller can accurately control the BlueRov2 in trajectory tracking operations with faster convergence and no oscillations around the set reference, even under disturbance.

Original languageEnglish
Title of host publicationProceedings of the 15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles, CAMS 2024
Publication statusAccepted - 29 Apr 2024
Event15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024 - Blacksburg, United States
Duration: 03 Sept 202405 Sept 2024

Publication series

NameIFAC-PapersOnLine
ISSN (Print)2405-8971
ISSN (Electronic)2405-8963

Conference

Conference15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024
Abbreviated titleCAMS 2024
Country/TerritoryUnited States
CityBlacksburg
Period03/09/202405/09/2024

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