A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle

The Autonomous Underwater Vehicle (AUV) demonstrates highly nonlinear and complexity in dynamic model coupled with unstructured ocean environment. With limitation of actuator constraints, the only solution for AUV to overcome this challenge is by manipulating the control algorithms. Naturally, Discr...

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Main Author:	Sarif, Nira Mawangi
Format:	Thesis
Language:	English English English
Published:	2021
Subjects:	T Technology (General)
Online Access:	http://eprints.uthm.edu.my/8287/1/24p%20NIRA%20MAWANGI%20SARIF.pdf http://eprints.uthm.edu.my/8287/2/NIRA%20MAWANGI%20SARIF%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/8287/3/NIRA%20MAWANGI%20SARIF%20WATERMARK.pdf
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spelling	my-uthm-ep.82872023-02-07T03:44:29Z A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle 2021-09 Sarif, Nira Mawangi T Technology (General) The Autonomous Underwater Vehicle (AUV) demonstrates highly nonlinear and complexity in dynamic model coupled with unstructured ocean environment. With limitation of actuator constraints, the only solution for AUV to overcome this challenge is by manipulating the control algorithms. Naturally, Discrete-Time Sliding Mode Control (DSMC) is an appropriate controller for nonlinear systems due to its insensitivity to perturbations. However, the implementation of DSMC on AUV system contribute to chattering effect, which leads to low control accuracy and decreased lifetime of the actuator. For this reason, the reaching law scheme is employed to DSMC law. As a result, the reaching time of state trajectory to sliding surface is prolonged, hence, the robustness of the controller against perturbations is debilitated. Therefore, the Discrete-Time Fast Terminal Sliding Mode Control (DFTSMC) with reaching law schemes is proposed to overcome this issue. DFTSMC is a hybrid form of Discrete-Time Terminal Sliding Mode Control (DTSMC) and DSMC. The combination of nonlinear component from DTSMC and liner component by DSMC guarantee fast and finite error state convergence. While the chattering effect significantly reduced by nonlinear component from DTSMC. A comprehensive simulation showed that DFTSMC is capable of shortening the error state convergence of 65%, the reaching time by 32%, and reducing the chattering effect by 68%, in comparison with DSMC. In other words, DFTSMC offers fast and finite transient response, alleviates chattering effect, and guarantees strong robustness against perturbations in comparison with DTSMC and DSMC. Furthermore, DFTSMC also provides better system response when compared with discrete Proportional Integral Derivative (PID) and Model Predictive Controller (MPC). This indicates that DFTSMC is capable of providing better performance, compared with DTSMC, DSMC, discrete PID and MPC. Therefore, DFTSMC may emerge as one of the preferable controller methods towards improving real AUV system performance. 2021-09 Thesis http://eprints.uthm.edu.my/8287/ http://eprints.uthm.edu.my/8287/1/24p%20NIRA%20MAWANGI%20SARIF.pdf text en public http://eprints.uthm.edu.my/8287/2/NIRA%20MAWANGI%20SARIF%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/8287/3/NIRA%20MAWANGI%20SARIF%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	T Technology (General)
spellingShingle	T Technology (General) Sarif, Nira Mawangi A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
description	The Autonomous Underwater Vehicle (AUV) demonstrates highly nonlinear and complexity in dynamic model coupled with unstructured ocean environment. With limitation of actuator constraints, the only solution for AUV to overcome this challenge is by manipulating the control algorithms. Naturally, Discrete-Time Sliding Mode Control (DSMC) is an appropriate controller for nonlinear systems due to its insensitivity to perturbations. However, the implementation of DSMC on AUV system contribute to chattering effect, which leads to low control accuracy and decreased lifetime of the actuator. For this reason, the reaching law scheme is employed to DSMC law. As a result, the reaching time of state trajectory to sliding surface is prolonged, hence, the robustness of the controller against perturbations is debilitated. Therefore, the Discrete-Time Fast Terminal Sliding Mode Control (DFTSMC) with reaching law schemes is proposed to overcome this issue. DFTSMC is a hybrid form of Discrete-Time Terminal Sliding Mode Control (DTSMC) and DSMC. The combination of nonlinear component from DTSMC and liner component by DSMC guarantee fast and finite error state convergence. While the chattering effect significantly reduced by nonlinear component from DTSMC. A comprehensive simulation showed that DFTSMC is capable of shortening the error state convergence of 65%, the reaching time by 32%, and reducing the chattering effect by 68%, in comparison with DSMC. In other words, DFTSMC offers fast and finite transient response, alleviates chattering effect, and guarantees strong robustness against perturbations in comparison with DTSMC and DSMC. Furthermore, DFTSMC also provides better system response when compared with discrete Proportional Integral Derivative (PID) and Model Predictive Controller (MPC). This indicates that DFTSMC is capable of providing better performance, compared with DTSMC, DSMC, discrete PID and MPC. Therefore, DFTSMC may emerge as one of the preferable controller methods towards improving real AUV system performance.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Sarif, Nira Mawangi
author_facet	Sarif, Nira Mawangi
author_sort	Sarif, Nira Mawangi
title	A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
title_short	A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
title_full	A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
title_fullStr	A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
title_full_unstemmed	A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
title_sort	discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2021
url	http://eprints.uthm.edu.my/8287/1/24p%20NIRA%20MAWANGI%20SARIF.pdf http://eprints.uthm.edu.my/8287/2/NIRA%20MAWANGI%20SARIF%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/8287/3/NIRA%20MAWANGI%20SARIF%20WATERMARK.pdf
_version_	1776103319209508864

A discrete-time fast terminal sliding mode for depth control of autonomous underwater vehicle

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