Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances

Some hydrodynamic phenomena of an underwater Remotely Operated Vehicle ( ROV ), such as turbulence, cavitation, and multi-phase fluidic regimes, are associated to continuous but nowhere differentiable functions. These disturbances stand as complex forces potentially influencing the ROVs during typic...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 15; no. 3; pp. 1314 - 1321
Main Authors Muñoz-Vázquez, Aldo-Jonathan, Ramírez-Rodríguez, Heriberto, Parra-Vega, Vicente, Sánchez-Orta, Anand
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.06.2017
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Cavitation
Closed loop systems
Computational fluid dynamics
Computer simulation
Continuity (mathematics)
Control
Controllers
Disturbances
Engineering
Feasibility studies
Fluid flow
Mechatronics
Navigation
Regular Papers
Remote control
Remotely operated vehicles
Robotics
Robust control
Simulation
Sliding mode control
Studies
Task complexity
Tracking control
Tracking control systems
Turbulence
제어계측공학
fractional sliding modes
remotely operated vehicle
Fractional-order control
Hölder functions
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ISSN1598-6446
2005-4092
DOI10.1007/s12555-015-0210-0

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Summary:Some hydrodynamic phenomena of an underwater Remotely Operated Vehicle ( ROV ), such as turbulence, cavitation, and multi-phase fluidic regimes, are associated to continuous but nowhere differentiable functions. These disturbances stand as complex forces potentially influencing the ROVs during typical navigation tasks. In this paper, the tracking control of a ROV subject to nonsmooth Hölder disturbances is proposed based on a fractionalorder robust controller that ensures exponential tracking. Notably, the controller gives rise to a closed-loop system with the following characteristics: a) continuous control signal that alleviates chattering effects; b) the fractional sliding motion is substantiated on a proposed resetting memory principle; c) the control is robust to model uncertainties; and d) exact rejection of Hölder disturbances in finite-time. A representative simulation study reveals the feasibility of the proposed scheme.
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http://link.springer.com/article/10.1007/s12555-015-0210-0
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-015-0210-0