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Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities

Cui, Rongxin; Chen, Lepeng; Yang, Chenguang; Chen, Mou

Authors

Rongxin Cui

Lepeng Chen

Mou Chen



Abstract

© 2017 IEEE. This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances, and uncertain hydrodynamics of the robot have been successfully solved in the control design. An adaptive MIMO-ESO is designed not only to estimate the unmeasurable linear and angular velocities, but also to estimate the unknown external disturbances. An ISMC is then designed using Lyapunov synthesis, and an adaptive gain update algorithm is introduced to estimate the upper bound of the uncertainties. Rigorous theoretical analysis is performed to show that the proposed control method is able to achieve asymptotical tracking performance for the underwater robot. Experimental studies are also carried out to validate the effectiveness of the proposed control, and to show that the proposed approach performs better than a conventional potential difference (PD) control approach.

Journal Article Type Article
Publication Date Aug 1, 2017
Journal IEEE Transactions on Industrial Electronics
Print ISSN 0278-0046
Electronic ISSN 1557-9948
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 64
Issue 8
Pages 6785-6795
Institution Citation Cui, R., Chen, L., Yang, C., & Chen, M. (2017). Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities. IEEE Transactions on Industrial Electronics, 64(8), 6785-6795. https://doi.org/10.1109/TIE.2017.2694410
DOI https://doi.org/10.1109/TIE.2017.2694410
Publisher URL https://ieeexplore.ieee.org/document/7902170