A Funnel Control based Terminal Sliding Mode Control using a robust observer for Autonomous Underwater Vehicles in the vertical Plane
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Abstract
This article is devoted to the advanced control of a vertically autonomous underwater robots that are used for the assignment of various search and rescue operations on the high seas. The kinematic and dynamic models of the robot are described by the differential equations with six degrees of freedom with respect to the Earth frame. Due to the uncertain marine environment, these equations are non-linear and strongly coupled. This control is a combination of funnel-based control and sliding mode for the velocity and depth control; which consists in taking the funnel control as much as a time-varying coefficient of the sliding surface. However, the implementation of this control faces difficulties caused by non-measurable variables, which are resolved by the addition of an extended super-twisting observer. The stability study using the Lyponuv method and simulation results confirm the effectiveness of the proposed method for controlling the speed and trajectory of AUVs in the vertical plane.
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