K∞ function-based robust sliding mode control for remotely operated vehicles: Theory, simulations, and experiments

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-12-31 DOI:10.1016/j.conengprac.2024.106230

Hongxuan Chen , Guoyuan Tang , Wenqiang Xiao , Xiaoyu Zhou , Dongdong Wu , Liang Gui

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引用次数: 0

Abstract

The chattering and model uncertainty are two main challenges for the application of sliding mode control (SMC). To address these issues, a novel class

K_{\infty}

function-based SMC combined with disturbance observer is proposed for the control of remotely operated vehicles (ROVs). First, a novel class

K_{\infty}

function-based SMC is proposed, ensuring the global uniform ultimate boundedness (GUUB) of ROV without model parameters. Then, to improve performance under strong external disturbances, a disturbance observer is designed to estimate and compensate for system unknows, with a rigorous stability analysis of the controller-observer structure. At last, the proposed method is extended to operate without acceleration measurement. Simulations and experiments are conducted to verify the effectiveness of the proposed control scheme.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.