Indian Journal of Geo-Marine Sciences

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Variable Gain Super Twisting Sliding Mode Control (VGSTW) application in longitudinal plane of Autonomous Underwater Glider (AUG)


Affiliations
1 Robotics, Intelligent System & Control Engineering (RISC) Research Group, Faculty of Electrical and Electronics Engineering Technology, University Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia
2 Underwater, Control and Robotics Group (UCRG), School of Electrical and Electronics Engineering, Engineering Campus, Universiti Sains Malaysia (USM), Nibong Tebal, Pulau Pinang, 14300, Malaysia

This paper presents a robust control design using variable gain super twisting sliding mode control application in Autonomous Underwater Glider (AUG). AUGs are known as underactuated systems and very nonlinear in nature make difficult to control. The controller is designed for longitudinal plane of an AUG that tracks the pitching angle and net buoyancy of a ballast pump for nominal system, system in existence of external disturbance and parameter variations in hydrodynamic coefficients. The Lyapunov stability theorem has proved that the proposed control law is satisfied the stability sufficient condition. The simulation results have shown that the proposed controller has improved the transient response, reduced steady error and chattering effects in control input and sliding surface in all cases.
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  • Variable Gain Super Twisting Sliding Mode Control (VGSTW) application in longitudinal plane of Autonomous Underwater Glider (AUG)

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Authors

M Mat-Noh
Robotics, Intelligent System & Control Engineering (RISC) Research Group, Faculty of Electrical and Electronics Engineering Technology, University Malaysia Pahang (UMP), 26600 Pekan, Pahang, Malaysia
M R Arshad
Underwater, Control and Robotics Group (UCRG), School of Electrical and Electronics Engineering, Engineering Campus, Universiti Sains Malaysia (USM), Nibong Tebal, Pulau Pinang, 14300, Malaysia
R Mohd-Mokhtar
Underwater, Control and Robotics Group (UCRG), School of Electrical and Electronics Engineering, Engineering Campus, Universiti Sains Malaysia (USM), Nibong Tebal, Pulau Pinang, 14300, Malaysia

Abstract


This paper presents a robust control design using variable gain super twisting sliding mode control application in Autonomous Underwater Glider (AUG). AUGs are known as underactuated systems and very nonlinear in nature make difficult to control. The controller is designed for longitudinal plane of an AUG that tracks the pitching angle and net buoyancy of a ballast pump for nominal system, system in existence of external disturbance and parameter variations in hydrodynamic coefficients. The Lyapunov stability theorem has proved that the proposed control law is satisfied the stability sufficient condition. The simulation results have shown that the proposed controller has improved the transient response, reduced steady error and chattering effects in control input and sliding surface in all cases.