Cargando…

Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles

Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers...

Descripción completa

Detalles Bibliográficos
Autores principales: González-García, Josué, Gómez-Espinosa, Alfonso, García-Valdovinos, Luis Govinda, Salgado-Jiménez, Tomás, Cuan-Urquizo, Enrique, Escobedo Cabello, Jesús Arturo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8780515/
https://www.ncbi.nlm.nih.gov/pubmed/35062449
http://dx.doi.org/10.3390/s22020488
_version_ 1784637857872216064
author González-García, Josué
Gómez-Espinosa, Alfonso
García-Valdovinos, Luis Govinda
Salgado-Jiménez, Tomás
Cuan-Urquizo, Enrique
Escobedo Cabello, Jesús Arturo
author_facet González-García, Josué
Gómez-Espinosa, Alfonso
García-Valdovinos, Luis Govinda
Salgado-Jiménez, Tomás
Cuan-Urquizo, Enrique
Escobedo Cabello, Jesús Arturo
author_sort González-García, Josué
collection PubMed
description Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers strong robustness and fast convergence compared with asymptotic or exponential solutions. Those finite-time controllers do not permit the users to predefine the convergence time, which can be useful for a more efficient use of the robot’s energy. This paper presents the experimental validation of a model-free high-order Sliding Mode Controller (SMC) with finite-time convergence in a predefined time. The convergence time is introduced by the simple change of a time-base parameter. The aim is to validate the controller so it can be implemented for cooperative missions where the communication is limited or null. Results showed that the proposed controller can drive the robot to the desired depth and heading trajectories in the predefined time for all the cases, reducing the error by up to 75% and 41% when compared with a PID and the same SMC with asymptotic convergence. The energy consumption was reduced 35% and 50% when compared with those same controllers.
format Online
Article
Text
id pubmed-8780515
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-87805152022-01-22 Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles González-García, Josué Gómez-Espinosa, Alfonso García-Valdovinos, Luis Govinda Salgado-Jiménez, Tomás Cuan-Urquizo, Enrique Escobedo Cabello, Jesús Arturo Sensors (Basel) Article Several control strategies have been proposed for the trajectory tracking problem of Autonomous Underwater Vehicles (AUV). Most of them are model-based, hence, detailed knowledge of the parameters of the robot is needed. Few works consider a finite-time convergence in their controllers, which offers strong robustness and fast convergence compared with asymptotic or exponential solutions. Those finite-time controllers do not permit the users to predefine the convergence time, which can be useful for a more efficient use of the robot’s energy. This paper presents the experimental validation of a model-free high-order Sliding Mode Controller (SMC) with finite-time convergence in a predefined time. The convergence time is introduced by the simple change of a time-base parameter. The aim is to validate the controller so it can be implemented for cooperative missions where the communication is limited or null. Results showed that the proposed controller can drive the robot to the desired depth and heading trajectories in the predefined time for all the cases, reducing the error by up to 75% and 41% when compared with a PID and the same SMC with asymptotic convergence. The energy consumption was reduced 35% and 50% when compared with those same controllers. MDPI 2022-01-09 /pmc/articles/PMC8780515/ /pubmed/35062449 http://dx.doi.org/10.3390/s22020488 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
González-García, Josué
Gómez-Espinosa, Alfonso
García-Valdovinos, Luis Govinda
Salgado-Jiménez, Tomás
Cuan-Urquizo, Enrique
Escobedo Cabello, Jesús Arturo
Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title_full Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title_fullStr Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title_full_unstemmed Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title_short Experimental Validation of a Model-Free High-Order Sliding Mode Controller with Finite-Time Convergence for Trajectory Tracking of Autonomous Underwater Vehicles
title_sort experimental validation of a model-free high-order sliding mode controller with finite-time convergence for trajectory tracking of autonomous underwater vehicles
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8780515/
https://www.ncbi.nlm.nih.gov/pubmed/35062449
http://dx.doi.org/10.3390/s22020488
work_keys_str_mv AT gonzalezgarciajosue experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles
AT gomezespinosaalfonso experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles
AT garciavaldovinosluisgovinda experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles
AT salgadojimeneztomas experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles
AT cuanurquizoenrique experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles
AT escobedocabellojesusarturo experimentalvalidationofamodelfreehighorderslidingmodecontrollerwithfinitetimeconvergencefortrajectorytrackingofautonomousunderwatervehicles