Sarif, Nira Mawangi and Ngadengon, Rafidah and Abdul Kadir, Herdawatie and A. Jalil, Mohd Hafiz (2019) Depth control of autonomous underwater vehicle using discrete time sliding mode controller. Universal Journal of Electrical and Electronic Engineering, 6 (5B). pp. 96-102.
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Abstract
This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | autonomous underwater vehicle; depth control; discrete sliding mode controller, discrete proportional–integral-derivative. |
| Subjects: | T Technology > TC Hydraulic engineering. Ocean engineering |
| Divisions: | Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering |
| Depositing User: | Mr. Abdul Rahim Mat Radzuan |
| Date Deposited: | 11 Aug 2021 03:39 |
| Last Modified: | 11 Aug 2021 03:39 |
| URI: | http://eprints.uthm.edu.my/id/eprint/604 |
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