An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Danilo G. Chavez; Oscar Camacho; José Daniel Guanoluisa; Hugo Leiva

An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Danilo G. Chavez
, Oscar Camacho
, José Daniel Guanoluisa
, Hugo Leiva

Escuela Politecnica Nacional
Universidad Yachay Tech

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).

Original language	English
Pages (from-to)	42-55
Number of pages	14
Journal	RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao
Volume	2019
Issue number	19
State	Published - Apr 2019
Externally published	Yes

Keywords

Delay time
REMUS
SMC
Smith Projector
Underwater Vehicle
V-REP

Cite this

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title = "An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay",

abstract = "This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).",

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AU - Camacho, Oscar

AU - Guanoluisa, José Daniel

AU - Leiva, Hugo

PY - 2019/4

Y1 - 2019/4

N2 - This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).

AB - This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Predictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).

KW - Delay time

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KW - SMC

KW - Smith Projector

KW - Underwater Vehicle

KW - V-REP

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VL - 2019

SP - 42

EP - 55

JO - RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao

JF - RISTI - Revista Iberica de Sistemas e Tecnologias de Informacao

IS - 19

ER -

An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Abstract

Keywords

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