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Robust Motion Control of Fully/Over-Actuated Underwater Vehicle Using Sliding Surfaces

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Abstract

This paper presents a novel framework for a robust motion control scheme of an eight-thruster underwater vehicle. It combines a model-free approach intertwined with a model-based approach such as sliding mode control (SMC) to counter the unknown disturbances and decouple them to provide better tracking. A proportional-integral (PI) control-like structure is taken as the first sliding surface. A proportional derivative (PD) control-like structure is proposed as the second sliding surface for trajectory tracking. This motion control works for any fully actuated or over-actuated vehicle. Initially, the dynamic model and vehicle configuration are presented. Then the vehicle’s closed-loop behavior is studied in the presence of underwater currents. Later, the study considers external disturbances and compensates them with the help of a nonlinear disturbance observer. Lyapunov’s direct method and Barbalat’s lemma ensure the asymptotic convergence of tracking errors. The proposed controller performance is evaluated using a detailed comparison study with different model-free and model-based controllers from the literature. Later, the control scheme’s effectiveness is demonstrated numerically with the help of computer-based simulations. The robustness against the parameter uncertainties, underwater currents, and unknown disturbances is also presented.

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Acknowledgements

The study is carried out with the support of the Naval Research Board (NRB) India (#NRB/4003/MAR/PG/469) and IIT Palakkad Technology IHub Foundation (IPTIF/TD/IP/#008).

Funding

This work was supported by the Naval Research Board (NRB) India (#NRB/4003/MAR/PG/469) and IPTIF - IIT Palakkad Technology IHub Foundation (IPTIF/TD/IP/#008).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology Palakkad, Kanjikode, Palakkad, 678623, Kerala, India

    Arun Krishnan K S & Santhakumar Mohan

  2. Centre for Artificial Intelligence and Robotics, Indian Institute of Technology Mandi, Kamand, Mandi, 175005, Himachal Pradesh, India

    Jagadeesh Kadiyam

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  1. Arun Krishnan K S
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  2. Jagadeesh Kadiyam
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  3. Santhakumar Mohan
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Contributions

Authors equally contributed to the study, conception, design, preparation of material, data collection, and analysis. The first draft of the manuscript was written by all authors and commented on previous versions of the manuscript. All authors read and approved the final manuscript. Arun Krishnan has initiated the numerical simulations, analysis, and manuscript preparation. Jagadeesh Kadiyam contributed to the primary theoretical analysis, numerical simulations, and manuscript preparation. Santhakumar Mohan is the principal investigator and has supervised the theoretical development, provided theoretical fundamentals, and supported manuscript writing.

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Correspondence to Santhakumar Mohan.

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Arun Krishnan K S and Jagadeesh Kadiyam contributed equally to this work.

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S, A.K.K., Kadiyam, J. & Mohan, S. Robust Motion Control of Fully/Over-Actuated Underwater Vehicle Using Sliding Surfaces. J Intell Robot Syst 108, 60 (2023). https://doi.org/10.1007/s10846-023-01918-y

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