Depth control of autonomous underwater vehicle using discrete time sliding mode controller
This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for co...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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2019
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| Online Access: | http://eprints.uthm.edu.my/604/ http://eprints.uthm.edu.my/604/1/DNJ9649_58a18510d912af7e9a80439f0bb56334.pdf |
| _version_ | 1848887241409036288 |
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| author | Sarif, Nira Mawangi Ngadengon, Rafidah Abdul Kadir, Herdawatie A. Jalil, Mohd Hafiz |
| author_facet | Sarif, Nira Mawangi Ngadengon, Rafidah Abdul Kadir, Herdawatie A. Jalil, Mohd Hafiz |
| author_sort | Sarif, Nira Mawangi |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller. |
| first_indexed | 2025-11-15T19:51:16Z |
| format | Article |
| id | uthm-604 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T19:51:16Z |
| publishDate | 2019 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-6042021-08-11T03:39:36Z http://eprints.uthm.edu.my/604/ Depth control of autonomous underwater vehicle using discrete time sliding mode controller Sarif, Nira Mawangi Ngadengon, Rafidah Abdul Kadir, Herdawatie A. Jalil, Mohd Hafiz TC Hydraulic engineering. Ocean engineering This study presents a Discrete Time Sliding Mode Controller (DSMC) application on depth plane of Autonomous Underwater Vehicle (AUV). The main contribution on this work is an implementation of DSMC on NSP AUV II. Sliding Mode Control (SMC) is a robust type of controller and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. DSMC preserves the properties of standard SMC. Linearized dynamic model of NSP AUV II is used in the numerical simulations. Discrete Proportional Integral Derivative (PID) controllers are used for performance comparative analysis. The design of discrete PID and DSMC for NSP AUV II depth is described. Comparative study between the control laws is presented. The simulated results illustrate strong robustness, improve performance and satisfactory stability of DSMC as compared to discrete-time PID controller. 2019 Article PeerReviewed text en http://eprints.uthm.edu.my/604/1/DNJ9649_58a18510d912af7e9a80439f0bb56334.pdf Sarif, Nira Mawangi and Ngadengon, Rafidah and Abdul Kadir, Herdawatie and A. Jalil, Mohd Hafiz (2019) Depth control of autonomous underwater vehicle using discrete time sliding mode controller. Universal Journal of Electrical and Electronic Engineering, 6 (5B). pp. 96-102. https://doi.org/10.13189/ujeee.2019.061613 |
| spellingShingle | TC Hydraulic engineering. Ocean engineering Sarif, Nira Mawangi Ngadengon, Rafidah Abdul Kadir, Herdawatie A. Jalil, Mohd Hafiz Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title | Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title_full | Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title_fullStr | Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title_full_unstemmed | Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title_short | Depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| title_sort | depth control of autonomous underwater vehicle using discrete time sliding mode controller |
| topic | TC Hydraulic engineering. Ocean engineering |
| url | http://eprints.uthm.edu.my/604/ http://eprints.uthm.edu.my/604/ http://eprints.uthm.edu.my/604/1/DNJ9649_58a18510d912af7e9a80439f0bb56334.pdf |