Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle
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Chattering-Free Trajectory Tracking Robust Predefined-Time Sliding Mode Control for a Remotely Operated Vehicle Pooyan Alinaghi Hosseinabadi1
· Ali Soltani Sharif Abadi2 · Saad Mekhilef1,3,4
· Hemanshu Roy Pota5
Received: 8 February 2020 / Revised: 15 April 2020 / Accepted: 16 April 2020 © Brazilian Society for Automatics--SBA 2020
Abstract This study investigates a new chattering-free robust predefined-time sliding mode control (CFRPSMC) scheme for the trajectory tracking control problem of a three-degree-of-freedom (3-DOF) remotely operated vehicle (ROV) in the presence of matched uncertainties. The advanced notion of predefined-time stability is used to provide a maximum convergence time as desired that can be set during the control design and independently of the initial conditions. Based on defining a new form of sliding surfaces, a new control law is designed to ease the undesirable chattering phenomenon without damaging the robustness properties and tracking precision. The proposed control scheme can not only solve the predefined-time tracking controller design problem, but also provide the robustness to various uncertainties. The Lyapunov stability theory is used to establish the stability analysis of the closed-loop system in both the reaching phase and the sliding phase. The performance of the proposed CFRPSMC scheme is evaluated for the 3-DOF ROV through two comparative simulation cases using Simulink/MATLAB. The comparative simulation results and analytical comparisons demonstrate the efficacy and superiority of the proposed method compared with other relevant conventional methods. Keywords Predefined time · Sliding mode · Robust · ROV · Tracking · Chattering-free
1 Introduction
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Pooyan Alinaghi Hosseinabadi [email protected] Ali Soltani Sharif Abadi [email protected] Saad Mekhilef [email protected]; [email protected] Hemanshu Roy Pota [email protected]
1
Power Electronics and Renewable Energy Research Laboratory (PEARL), Department of Electrical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur 50603, Malaysia
2
Department of Electrical Engineering, Faculty of Engineering, Yazd University, Yazd, Iran
3
School of Software and Electrical Engineering, Swinburne, Melbourne, VIC, Australia
4
Center of Research Excellence in Renewable Energy and Power Systems, King Abdulaziz University, Jeddah 21589, Saudi Arabia
5
School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia
It is now possible to use an ROV for underwater exploration for a risky mission (Hosseinabadi 2018). The ROV has attracted interest due to its important role in the underwater exploration including military applications, oceanographic mapping, inspection of the pipeline, pipeline maintenance, mineral exploration, and oil and gas exploration. Lack of accurate ROV kinematic model might lead to the extremely ROV nonlinear dynamics, which is called parametric uncertainty. Because of the change in water density, the weight of the RO
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