Title | ||
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Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments |
Abstract | ||
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The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater swimming manipulator with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to move in confined spaces and to perform intervention tasks. In this article, we propose using a generalized super-twisting algorithm (GSTA), which is an extension of the regular super-twisting algorithm, for the trajectory tracking of the position and orientation of the base of the AIAUV in six degrees of freedom (6DOF). We also propose using a higher-order sliding mode observer (HOSMO) for estimating the linear and angular velocities when velocity measurements are unavailable. Furthermore, we show the ultimate boundedness of the tracking errors for a control law using the GSTA and for a control law that combines the GSTA with an HOSMO. We also prove that the GSTA gives global uniform finite-time stability. Finally, we demonstrate the applicability of the proposed control laws with comprehensive simulation and experimental results. |
Year | DOI | Venue |
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2021 | 10.1109/TCST.2020.2977302 | IEEE Transactions on Control Systems Technology |
Keywords | DocType | Volume |
Autonomous underwater vehicle,control application,experimental results,robotics,sliding mode control (SMC) | Journal | 29 |
Issue | ISSN | Citations |
1 | 1063-6536 | 1 |
PageRank | References | Authors |
0.35 | 6 | 3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Ida-Louise G. Borlaug | 1 | 1 | 0.35 |
Kristin Y. Pettersen | 2 | 153 | 16.41 |
Jan Tommy Gravdahl | 3 | 327 | 43.60 |