Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles

The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model uncertainties and external time-varying disturbances in an unders...

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Bibliographic Details
Published inarXiv.org
Main Authors Hossein Nejatbakhsh Esfahani, Aminian, Behdad, Esten Ingar Grøtli, Gros, Sebastien
Format Paper
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 19.11.2021
Subjects
Adaptive control
Algorithms
Autonomous underwater vehicles
Control algorithms
Control theory
Performance enhancement
Perturbation
Sliding mode control
Time lag
Tracking control
Trajectory control
Uncertainty
Undersea
Upper bounds
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Summary:The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model uncertainties and external time-varying disturbances in an undersea environment. To address this problem, a Backstepping-based Integral Sliding Mode Control with Time Delay Estimation (BS-ISMC-TDE) is designed. To improve the performance of a conventional backstepping control algorithm, an Integral Sliding Mode Control (ISMC) approach is adopted in the backstepping design to attenuate the steady-state error. Moreover, an adaptive Time Delay Estimation (TDE) strategy is proposed to provide an estimation of perturbations by observing the inputs and the states of the AUV one step into the past without an exact knowledge of the dynamics and the upper bound of uncertainties. From the simulation results, it is shown that the proposed control approach using both adaptive and conventional TDE parts outperforms a Backstepping-based Integral Sliding Mode Control (BS-ISMC).
ISSN:2331-8422