Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays
Harun Tugal, Kamil Cetin, Xiaoran Han, Ibrahim Kucukdemiral, Joshua Roe, Yvan Petillot, M. Suphi Erden
Abstract
Unmanned underwater vehicles are crucial for deep-sea exploration and inspection without imposing any danger to human life due to extreme environmental conditions. But, designing a robust controller that can cope with model uncertainties, external disturbances, and time delays for such vehicles is a challenge. This paper implements a sliding mode position control algorithm with a time-delay estimation term to a remotely operated underwater vehicle to deal with disturbances, such as waves, and time delays. The controller is implemented on an underwater vehicle (BlueRov) and compared with a proportional-integral-derivative (PID) controller in a wave tank with different disturbances and when there exist delays within the communication channel. The experimental results show that the proposed control method provides better performance than the conventional PID in the presence of extreme disturbances with less control efforts.
BibTeX
@inproceedings{icra2022_slidingmodecontr,
title = {Sliding Mode Controller for Positioning of an Underwater Vehicle Subject to Disturbances and Time Delays},
author = {Harun Tugal and Kamil Cetin and Xiaoran Han and Ibrahim Kucukdemiral and Joshua Roe and Yvan Petillot and M. Suphi Erden},
booktitle = {ICRA 2022},
year = {2022}
}