POTENTIALLY DIRECTED ROBUST CONTROL OF AN UNDERWATER ROBOT IN THE PRESENCE OF OBSTACLES

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TABATABAI NASAB FAHIMEH SADAT; MOOSAVIAN SEYED ALI AKBAR; KEYMASI KHALAJI ALI

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Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:3 Page(s): 1-8

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Title

POTENTIALLY DIRECTED ROBUST CONTROL OF AN UNDERWATER ROBOT IN THE PRESENCE OF OBSTACLES

Author(s)

TABATABAI NASAB FAHIMEH SADAT | MOOSAVIAN SEYED ALI AKBAR | KEYMASI KHALAJI ALI | Issue Writer Certificate

Keywords

UNDERWATER ROBOTQ1

ROBUST FEEDBACK LINEARIZATION CONTROLLERQ1

SLIDING MODE CONTROLLERQ1

POTENTIAL FUNCTIONQ1

Abstract

In this paper, a new controller is presented based on ROBUST FEEDBACK LINEARIZATION CONTROLLER in combination with integral-exponential error dynamics and POTENTIAL FUNCTIONs for tracking control of an UNDERWATER ROBOT in an obstacle-rich environment. UNDERWATER ROBOTs are considered as nonlinear, under actuated systems with indefinite, uncertain dynamics. In this research, by assuming a boundary for external disturbances and uncertainties a proposed robust control method has been put to use. Along with the robust feedback linearization algorithm which has been developed based on the dynamics of the nonlinear error defined for the UNDERWATER ROBOT, and in order to avoid the obstacles, the control laws are combined with the virtual POTENTIAL FUNCTIONs. The considered virtual POTENTIAL FUNCTIONs make a repulsive force between the robot and the obstacles which intersect the desired path and then they bring about a safe move of the robot in obstacle-rich environments. Finally, the performance of the proposed new control algorithm is compared with the results of the implementation of classical sliding mode control laws. The results show the effectiveness of potentially directed proposed controller through obstacle-rich paths which operate far better facing obstacles.

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APA: Copy

TABATABAI NASAB, FAHIMEH SADAT, MOOSAVIAN, SEYED ALI AKBAR, & KEYMASI KHALAJI, ALI. (2018). POTENTIALLY DIRECTED ROBUST CONTROL OF AN UNDERWATER ROBOT IN THE PRESENCE OF OBSTACLES. MODARES MECHANICAL ENGINEERING, 18(3 ), 1-8. SID. https://sid.ir/paper/178972/en

Vancouver: Copy

TABATABAI NASAB FAHIMEH SADAT, MOOSAVIAN SEYED ALI AKBAR, KEYMASI KHALAJI ALI. POTENTIALLY DIRECTED ROBUST CONTROL OF AN UNDERWATER ROBOT IN THE PRESENCE OF OBSTACLES. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(3 ):1-8. Available from: https://sid.ir/paper/178972/en

IEEE: Copy

FAHIMEH SADAT TABATABAI NASAB, SEYED ALI AKBAR MOOSAVIAN, and ALI KEYMASI KHALAJI, “POTENTIALLY DIRECTED ROBUST CONTROL OF AN UNDERWATER ROBOT IN THE PRESENCE OF OBSTACLES,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 3 , pp. 1–8, 2018, [Online]. Available: https://sid.ir/paper/178972/en

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