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Discrete Sliding Mode Controller on Autonomous Underwater Vehicle in Steering Motion

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Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019 (NUSYS 2019)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 666))

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Abstract

The purpose of this study is to implement sliding mode control in discrete time domain for Autonomous Underwater Vehicle (AUV). Six Degree of Freedom (DOF) was established for Naval Postgraduate School (NPS) AUV II model, followed by linearizing surge and sway nonlinear Equation of Motion (EoM) in horizontal plane to simplify the control system design. Discrete sliding mode controller was designed based on Gao’s reaching law. Discrete Proportional Integral Derivative (PID) controllers were used for performance comparative analysis and brief discussion on existence of chattering phenomena in the controller input. As a result, computer simulations on NPS AUV II showed that the proposed controller has zero overshoot and faster settling time than the discrete PID controller.

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Acknowledgements

The authors would like to thank Universiti Tun Hussein Onn Malaysia (UTHM) for TIER 1 grant Vot H148, GPPS grant Vot H316 and AdMiRe FKEE for the research funding support.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, University Tun Hussein Onn Malaysia, 86400, Parit Raja, Johor, Malaysia

    Nira Mawangi Sarif, Rafidah Ngadengon, Herdawatie Abdul Kadir & Mohd Hafiz A. Jalil

Authors
  1. Nira Mawangi Sarif
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  2. Rafidah Ngadengon
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  3. Herdawatie Abdul Kadir
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  4. Mohd Hafiz A. Jalil
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Corresponding author

Correspondence to Rafidah Ngadengon .

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Editors and Affiliations

  1. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Zainah Md Zain

  2. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Hamzah Ahmad

  3. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Dwi Pebrianti

  4. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mahfuzah Mustafa

  5. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Nor Rul Hasma Abdullah

  6. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Rosdiyana Samad

  7. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Maziyah Mat Noh

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Cite this paper

Sarif, N.M., Ngadengon, R., Kadir, H.A., Jalil, M.H.A. (2021). Discrete Sliding Mode Controller on Autonomous Underwater Vehicle in Steering Motion. In: Md Zain, Z., et al. Proceedings of the 11th National Technical Seminar on Unmanned System Technology 2019 . NUSYS 2019. Lecture Notes in Electrical Engineering, vol 666. Springer, Singapore. https://doi.org/10.1007/978-981-15-5281-6_12

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