Abstract
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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Recommended by Editor-in-Chief Young Hoon Joo. Authors acknowledge partial support from Conacyt Basic Research Grants 264513, 133544 and 133346, as well as PhD Scholarship Grant 243206.
Aldo-Jonathan Muñoz-Vázquez received the M.Sc. degree in Robotics and Advanced Manufacturing from the Research Center for Advanced Studies (CINVESTAV), Saltillo Mexico in 2012, where he is currently a Ph.D. student. His research interests include fractional-order control, control of aerial robots and forcemotion control.
Heriberto Ramírez-Rodríguez received the M.Sc. degree in Robotics and Advanced Manufacturing from the Research Center for Advanced Studies (CINVESTAV), Saltillo Mexico in 2014. His research interests include control for mobile robots and underactuated systems.
Vicente Parra-Vega received his Ph.D. degree in Mathematical Engineering and Information Physics, from the University of Tokyo, Tokyo, Japan in 1995. His research interest are on robot control, multirobot systems, non-intertial robots, manmachine interfaces, and mechatronics. He spent a posdoctoral leave in the German Aerospace Agency in 2000, and a sabbatical leave in the Univ. of Texas in 2010. He joined Cinvestav in 1995, and since 2005 he is with the Robotics and Advanced Manufacturing Division-Cinvestav.
Anand Sánchez-Orta received his M.Sc. degree in Automatic Control from the Autonomous University of Nuevo León, Mexico and his Ph.D. degree in Information and Systems Technologies from the University of Technology of Compiègne (UTC), France, in 2001 and 2007, respectively. He joined the Robotics and Advanced Manufacturing Division of the Research Center for Advanced Studies (CINVESTAV) in 2009, where he is currently a Research Professor. His research interests include control theory, estimation and visual servoing with applications to robotics.
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Muñoz-Vázquez, AJ., Ramírez-Rodríguez, H., Parra-Vega, V. et al. Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances. Int. J. Control Autom. Syst. 15, 1314–1321 (2017). https://doi.org/10.1007/s12555-015-0210-0
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DOI: https://doi.org/10.1007/s12555-015-0210-0