Skip to main content

Advertisement

Springer Nature Link
Log in

Robust maneuvering of autonomous underwater vehicle: an adaptive fuzzy PI sliding mode control

  • Original Research Paper
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

The control issues in nonlinear trajectory tracking of an autonomous underwater vehicle (AUV) are a challenging task due to the complex oceanic environment, highly nonlinear coupled dynamics, imprecise hydrodynamic coefficients and unpredictable external disturbances such as ocean waves, current fluctuations and tides. This paper addresses an adaptive fuzzy PI sliding mode control (AFPISMC) for trajectory tracking control of AUV to achieve high precise maneuvering in undersea environment. An AFPISMC is basically comprised of an equivalent control based on approximately known inverse dynamic model output and continuous adaptive PI term is designed to eliminate chattering effect. Furthermore, it does not require a priori knowledge of upper bounds on uncertainties in the dynamic parameters of an AUV. In this approach, decoupled single input fuzzy PI control strategy is employed along with a reduced rule base and self-tuning control law is derived to modify hitting gain in order to enhance tracking response. The overall control scheme guarantees the global asymptotic stability based on Lyapunov theory. Finally, the effectiveness and robustness of the proposed approach are demonstrated through simulation and comparison studies.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10

Similar content being viewed by others

Explore related subjects

Discover the latest articles and news from researchers in related subjects, suggested using machine learning.

References

  1. Amer AF, Sallam EA, Elawady WM (2012) Quasi sliding mode based single input fuzzy self tuning decoupled fuzzy PI control for robot manipulators with uncertainty. Int J Roboust Nonlinear Control 22:2026–2054

    Article  MathSciNet  MATH  Google Scholar 

  2. Antonelli G, Chiaverini S, Sarkar N, West M (2001) Adaptive control of an autonomous underwater vehicle: experimental results on ODIN. IEEE Trans Control Syst Technol 9(5):756–765

    Article  Google Scholar 

  3. Arimoto S, Miyazaki F (1984) Stability and robustness of PID feedback control for robot manipulators of sensor capability. In: Brady M, Paul R (eds) Robot research. MIT Press, Cambridge, pp 783–799

    Google Scholar 

  4. Balasuriya A, Cong L (2003) Adaptive fuzzy sliding mode controller for underwater vehicles. In: Proceedings of international conference on control and automation, Montreal, Quebec, Canada, pp 917–921

  5. Bartolini G, Pisano A (2010) Black-box position and attitude tracking for underwater vehicles by second-order sliding-mode technique. Int J Robust Nonlinear Control 20:1594–1609

    Article  MathSciNet  MATH  Google Scholar 

  6. Bessa WM, Dutra MS, Kreuzer E (2008) Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller. J Robot Auton Syst 49(2):670–677

    Article  Google Scholar 

  7. Bessa WM, Dutra MS, Kreuzer E (2010) An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles. J Robot Auton Syst 56(8):16–26

    Article  Google Scholar 

  8. Corless MJ, Leitmann G (1981) Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems. IEEE Trans Autom Control 26(5):1139–1144

    Article  MathSciNet  MATH  Google Scholar 

  9. Cristi R, Papoulias FA, Healey AJ (1990) Adaptive sliding mode control of autonomous underwater vehicles in the dive plane. IEEE J Ocean Eng 15(3):152–160

    Article  Google Scholar 

  10. DeBitetto PA (1995) Fuzzy logic for depth control of unmanned undersea vehicles. IEEE J Ocean Eng 20(3):242–248

    Article  Google Scholar 

  11. Feng Z, Allen R (2004) Reduced order \(H^{\infty }\) control of an autonomous underwater vehicle. Control Eng Pract 13:1511–1520

    Article  Google Scholar 

  12. Fossen TI, Sagatun S (1991) Adaptive control of nonlinear systems: a case study of underwater robotic systems. J Robot Syst 8(3):393–412

    Article  MATH  Google Scholar 

  13. Fossen TI (1994) Guidance and control of ocean vehicles. Wiley, New York

    Google Scholar 

  14. Goheen KR, Jefferys ER (1990) Multivariable self-turning autopilots for autonomous underwater vehicles. IEEE J Ocean Eng 15(3):144–151

    Article  Google Scholar 

  15. Gong JQ, Yao B (1999) Adaptive robust control without knowing bounds of parameter variations. Proc IEEE Conf Decis Control 4:3334–3339

    Google Scholar 

  16. Guo J, Chiu FC, Huang CC (2003) Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle. J Ocean Eng 30(6):2137–2155

    Article  Google Scholar 

  17. Guo S, Du J, Lin X, Yue C (2012) Adaptive fuzzy sliding mode control for spherical underwater robots. Int Conf Mechatron Autom 3:1681–1685

    Google Scholar 

  18. Healey AJ, Lienard D (1993) Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE J Ocean Eng 18(3):327–339

    Article  Google Scholar 

  19. Ismail ZH, Putranti VWE (2015) Second order sliding mode control scheme for an autonomous underwater vehicle with dynamic region concept. Math Probl Eng 20:1–13

    Article  MathSciNet  Google Scholar 

  20. Kim HS, Shin YK (2003) Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control. J Ocean Eng 34:1080–1088

    Article  Google Scholar 

  21. Kim M, Joe H, Kim J, Yu SC (2015) Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. Int J Control 26(2):1–11

    MathSciNet  MATH  Google Scholar 

  22. Lakhekar GV, Waghmare LM (2015) Enhanced dynamic fuzzy sliding mode control for autonomous underwater vehicles. IEEE Int Symp Underw Technol 2:1–8

    Google Scholar 

  23. Lee PM, Hong SW, Lim YK, Lee CM, Jeon BH, Park JW (1999) Discrete-time quasi-sliding mode control of an autonomous underwater vehicle. IEEE J Ocean Eng 24(3):388–395

    Article  Google Scholar 

  24. Moura A, Rijo R, Silva P, Crespo S (2010) A multi-objective genetic algorithm applied to autonomous underwater vehicles for sewage outfall plume dispersion observations. Appl Soft Comput 10(4):1119–1126

    Article  Google Scholar 

  25. Nakamura Y, Savant S (1992) Nonlinear tracking control of autonomous underwater vehicles. In: Proceedings of IEEE international conference on robotics and automation, vol 3, pp 44–49

  26. Pisano A, Usai E (2004) Output-feedback control of an underwater vehicle prototype by higher-order sliding modes. Automatica 40:1525–1531

    Article  MathSciNet  MATH  Google Scholar 

  27. Santhakumar M, Asokan T (2010) Investigations on the hybrid tracking control of an underactuated autonomous underwater robot. Adv Robot 24:1529–1556

    Article  Google Scholar 

  28. Sebastian E, Sotelo MA (2007) Adaptive fuzzy sliding mode controller for the kinematic variables of an underwater vehicle. J Intell Robot Syst 49(2):189–215

    Article  Google Scholar 

  29. Silvestre C, Pascoal A, Kaminer I (2002) On the design of gain scheduled trajectory tracking controllers. Int J Robust Nonlinear Control 12:797–839

    Article  MathSciNet  MATH  Google Scholar 

  30. Song F, Smith SM (2000) Design of sliding mode fuzzy controller for an autonomous underwater vehicle without system model. In: Proceeding of MTS/IEEE ocean conference

  31. Soylu S, Buckham BJ, Podhorodeski RP (2008) A chattering-free sliding-mode controller for underwater vehicles with fault tolerant infinity-norm thrust allocation. Ocean Eng 35:1647–1659

    Article  Google Scholar 

  32. Triantafyllou MS, Grosenbaugh MA (1991) Robust control for underwater vehicle systems with time delays. IEEE J Ocean Eng 16(1):146–151

    Article  Google Scholar 

  33. Wang JS, Lee CSG (2003) Self-adaptive recurrent neuro-fuzzy control of an autonomous underwater vehicle. IEEE Trans Robot Autom 19(2):283–295

    Article  Google Scholar 

  34. Wang Y, Gu L, Gao M, Zhu K (2015) Multivariable output feedback adaptive terminal sliding mode control for underwater vehicles. Asian J Control 17(6):1–19

    MathSciNet  MATH  Google Scholar 

  35. Xu J, Wang M, Qiao L (2015) Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles. Ocean Eng 105:54–63

    Article  Google Scholar 

  36. Yoerger D, Slotine J (1985) Robust trajectory control of underwater vehicles. IEEE J Ocean Eng 10(4):462–470

    Article  Google Scholar 

  37. Yuh J (1990) A neural net controller for underwater robotic vehicles. IEEE J Ocean Eng 15(3):161–166

    Article  Google Scholar 

  38. Zhou HY, Liu KZ, Feng XS (2011) State feedback sliding mode control without chattering by constructing Hurwitz matrix for AUV movement. Int J Autom Comput 8(2):262–268

    Article  Google Scholar 

  39. Zhu D, Sun B (2013) The bio-inspired model based hybrid sliding-mode tracking control for unmanned underwater vehicles. Eng Appl Artif Intell 26:2260–2269

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, G. H. Raisoni Institute of Engineering and Technology, Pune, Maharashtra, 412 207, India

    G. V. Lakhekar

  2. Department of Instrumentation Engineering, Shri Guru Gobind Singhji Institute of Engineering and Technology, Vishnupuri, Nanded, Maharashtra, 431 606, India

    L. M. Waghmare

Authors
  1. G. V. Lakhekar
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. L. M. Waghmare
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to G. V. Lakhekar.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Lakhekar, G.V., Waghmare, L.M. Robust maneuvering of autonomous underwater vehicle: an adaptive fuzzy PI sliding mode control. Intel Serv Robotics 10, 195–212 (2017). https://doi.org/10.1007/s11370-017-0220-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-017-0220-2

Keywords