Title: Depth advanced control of an autonomous underwater robot

Authors: Hattab Abdellilah; Bouhamida Mohamed; Mansouri Abdellah; Mihoub Youcef; Aced Mohammed Réda

Addresses: Automatic Department, Laboratory of Automatics, Vision and Intelligent Control Systems (AVCIS), Faculty of Electrical Engineering, University of Science and Technology, BP 1505, El Mnaouar, Bir El Djir 31000, Oran, Algeria ' Automatic Department, Laboratory of Automatics, Vision and Intelligent Control Systems (AVCIS), Faculty of Electrical Engineering, University of Science and Technology, BP 1505, El Mnaouar, Bir El Djir 31000, Oran, Algeria ' Automatic Department, Laboratory of Automatics, Vision and Intelligent Control Systems (AVCIS), Faculty of Electrical Engineering, University of Science and Technology, BP 1505, El Mnaouar, Bir El Djir 31000, Oran, Algeria ' Department of Electrical Engineering, Faculty of Applied Science, Ibn Khaldoun University, BP 78, Zaaroura 14000, Tiaret, Algeria ' Department of Electrical Engineering, Faculty of Applied Science, Ibn Khaldoun University, BP 78, Zaaroura 14000, Tiaret, Algeria

Abstract: Autonomous underwater robot control is a very challenging task because of autonomous underwater robot system nonlinearity, time-variance, uncertain external disturbance and difficulty in hydrodynamic modelling. Based on detailed autonomous underwater robot control survey and description of autonomous underwater robot dynamics, in this article we have used a high order sliding modes controller (HOSMC) for depth control of the autonomous underwater robot, based on the third order sliding modes. High order methods allow overcoming the chattering effect by removing the discontinuity of the control vector. We show that these high order controllers hold the properties of classical SM control laws and remove chattering problem. Different simulations have been carried out to show the performance and effectiveness of the proposed method.

Keywords: autonomous underwater robots; robot control; high order SMC; sliding mode control; mobile robots; depth control; advanced control; robot dynamics; simulation; chattering; vibration.

DOI: 10.1504/IJMIC.2016.081134

International Journal of Modelling, Identification and Control, 2016 Vol.26 No.4, pp.336 - 344

Received: 18 May 2015
Accepted: 04 Dec 2015
Published online: 24 Dec 2016 *

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