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

Jack Close; Mien Van; Stephen McIlvanna

doi:1016/j.ifacol.2024.10.067

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

School of Electronics, Electrical Engineering and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

69 Downloads (Pure)

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 language	English
Title of host publication	15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024): proceedings
Publisher	Elsevier
Pages	281-286
Number of pages	6
DOIs	https://doi.org/1016/j.ifacol.2024.10.067
Publication status	Published - 30 Oct 2024
Event	15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024 - Blacksburg, United States Duration: 03 Sept 2024 → 05 Sept 2024

Publication series

Name	IFAC-PapersOnLine
ISSN (Print)	2405-8971
ISSN (Electronic)	2405-8963

Conference

Conference	15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024
Abbreviated title	CAMS 2024
Country/Territory	United States
City	Blacksburg
Period	03/09/2024 → 05/09/2024

Keywords

PID-fixed
time sliding mode control
trajectory tracking
AUVs

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1016/j.ifacol.2024.10.067Licence: CC BY-NC-ND

PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance
Copyright 2024 The Authors. This is an open access conference proceeding published under a Creative Commons Attribution-NonCommercial-NoDerivs License (https://creativecommons.org/licenses/by-nc-nd/4.0/), which permits distribution and reproduction for non-commercial purposes, provided the author and source are cited.
Final published version, 0.99 MBLicence: CC BY-NC-ND

Towards safety-critical control of autonomous systems
McIlvanna, S. (Author), Naeem, W. (Supervisor) & Van, M. (Supervisor), Jul 2026
Student thesis: Doctoral Thesis › Thesis with Publications

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@inproceedings{e384add2510446b382b180328f6c1d33,

title = "PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance",

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. ",

keywords = "PID-fixed, time sliding mode control, trajectory tracking, AUVs",

author = "Jack Close and Mien Van and Stephen McIlvanna",

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doi = "1016/j.ifacol.2024.10.067",

language = "English",

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booktitle = "15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024): proceedings",

note = "15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024, CAMS 2024 ; Conference date: 03-09-2024 Through 05-09-2024",

}

Close, J , Van, M & McIlvanna, S 2024, PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance. in 15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024): proceedings. IFAC-PapersOnLine, Elsevier, pp. 281-286, 15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024, Blacksburg, Virginia, United States, 03/09/2024. https://doi.org/1016/j.ifacol.2024.10.067

PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance. / Close, Jack ; Van, Mien ; McIlvanna, Stephen.
15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024): proceedings. Elsevier, 2024. p. 281-286 (IFAC-PapersOnLine).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - PID-fixed time sliding mode control for trajectory tracking of AUVs under disturbance

AU - Close, Jack

AU - Van, Mien

AU - McIlvanna, Stephen

PY - 2024/10/30

Y1 - 2024/10/30

N2 - 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.

AB - 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.

KW - PID-fixed

KW - time sliding mode control

KW - trajectory tracking

KW - AUVs

U2 - 1016/j.ifacol.2024.10.067

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M3 - Conference contribution

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SP - 281

EP - 286

BT - 15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2024): proceedings

PB - Elsevier

T2 - 15th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles 2024

Y2 - 3 September 2024 through 5 September 2024

ER -

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

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Student theses

Towards safety-critical control of autonomous systems

Cite this