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Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation

The use of autonomous underwater vehicles (AUVs) has expanded in recent years to include inspection, maintenance, and repair missions. For these tasks, the vehicle must maintain its position while inspections or manipulations are performed. Some station-keeping controllers for AUVs can be found in t...

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Autores principales: González-García, Josué, Gómez-Espinosa, Alfonso, García-Valdovinos, Luis Govinda, Salgado-Jiménez, Tomás, Cuan-Urquizo, Enrique, Cabello, Jesús Arturo Escobedo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9231013/
https://www.ncbi.nlm.nih.gov/pubmed/35746128
http://dx.doi.org/10.3390/s22124347
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author González-García, Josué
Gómez-Espinosa, Alfonso
García-Valdovinos, Luis Govinda
Salgado-Jiménez, Tomás
Cuan-Urquizo, Enrique
Cabello, Jesús Arturo Escobedo
author_facet González-García, Josué
Gómez-Espinosa, Alfonso
García-Valdovinos, Luis Govinda
Salgado-Jiménez, Tomás
Cuan-Urquizo, Enrique
Cabello, Jesús Arturo Escobedo
author_sort González-García, Josué
collection PubMed
description The use of autonomous underwater vehicles (AUVs) has expanded in recent years to include inspection, maintenance, and repair missions. For these tasks, the vehicle must maintain its position while inspections or manipulations are performed. Some station-keeping controllers for AUVs can be found in the literature that exhibits robust performance against external disturbances. However, they are either model-based or require an observer to deal with the disturbances. Moreover, most of them have been evaluated only by numerical simulations. In this paper, the feasibility of a model-free high-order sliding mode controller for the station-keeping problem is validated. The proposed controller was evaluated through numerical simulations and experiments in a semi-Olympic swimming pool, introducing external disturbances that remained unknown to the controller. Results have shown robust performance in terms of the root mean square error (RMSE) of the vehicle position. The simulation resulted in the outstanding station-keeping of the BlueROV2 vehicle, as the tracking errors were kept to zero throughout the simulation, even in the presence of strong ocean currents. The experimental results demonstrated the robustness of the controller, which was able to maintain the RMSE in the range of 1–4 cm for the depth of the vehicle, outperforming related work, even when the disturbance was large enough to produce thruster saturation.
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spelling pubmed-92310132022-06-25 Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation González-García, Josué Gómez-Espinosa, Alfonso García-Valdovinos, Luis Govinda Salgado-Jiménez, Tomás Cuan-Urquizo, Enrique Cabello, Jesús Arturo Escobedo Sensors (Basel) Article The use of autonomous underwater vehicles (AUVs) has expanded in recent years to include inspection, maintenance, and repair missions. For these tasks, the vehicle must maintain its position while inspections or manipulations are performed. Some station-keeping controllers for AUVs can be found in the literature that exhibits robust performance against external disturbances. However, they are either model-based or require an observer to deal with the disturbances. Moreover, most of them have been evaluated only by numerical simulations. In this paper, the feasibility of a model-free high-order sliding mode controller for the station-keeping problem is validated. The proposed controller was evaluated through numerical simulations and experiments in a semi-Olympic swimming pool, introducing external disturbances that remained unknown to the controller. Results have shown robust performance in terms of the root mean square error (RMSE) of the vehicle position. The simulation resulted in the outstanding station-keeping of the BlueROV2 vehicle, as the tracking errors were kept to zero throughout the simulation, even in the presence of strong ocean currents. The experimental results demonstrated the robustness of the controller, which was able to maintain the RMSE in the range of 1–4 cm for the depth of the vehicle, outperforming related work, even when the disturbance was large enough to produce thruster saturation. MDPI 2022-06-08 /pmc/articles/PMC9231013/ /pubmed/35746128 http://dx.doi.org/10.3390/s22124347 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
Cabello, Jesús Arturo Escobedo
Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title_full Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title_fullStr Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title_full_unstemmed Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title_short Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation
title_sort model-free high-order sliding mode controller for station-keeping of an autonomous underwater vehicle in manipulation task: simulations and experimental validation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9231013/
https://www.ncbi.nlm.nih.gov/pubmed/35746128
http://dx.doi.org/10.3390/s22124347
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