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Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

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Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 538))

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Abstract

This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.

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Acknowledgements

This research is supported by Universiti Malaysia Pahang (UMP) research grant Vot: RDU1703134, Development of Controller for an Underactuated Autonomous Underwater Vehicle (AUV).

Author information

Authors and Affiliations

  1. Instrumentation and Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

    Maziyah Mat Noh & Zainah Md Zain

  2. Underwater, Control Robotics Research Group (UCRG), School of Electrical and Electronic Engineering, Engineering Campus, Universiti Sains Malaysia, 14300, Nibong Tebal, Pulau Pinang, Malaysia

    Maziyah Mat Noh, M. R. Arshad & Rosmiwati Mohd-Mokhtar

  3. Center for Advanced Studies in Telecommunications, CIIT, Park Road, Chak Shahzad, Islamabad, 44000, Pakistan

    Qudrat Khan

  4. Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 84600, Parit Raja, Batu Pahat, Johor, Malaysia

    Herdawati Abdul Kadir

Authors
  1. Maziyah Mat Noh
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  2. M. R. Arshad
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  3. Rosmiwati Mohd-Mokhtar
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  4. Zainah Md Zain
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  5. Qudrat Khan
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  6. Herdawati Abdul Kadir
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Corresponding author

Correspondence to Maziyah Mat Noh .

Editor information

Editors and Affiliations

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

    Zainah Md Zain

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

    Hamzah Ahmad

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

    Dwi Pebrianti

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

    Mahfuzah Mustafa

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

    Nor Rul Hasma Abdullah

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

    Rosdiyana Samad

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

    Maziyah Mat Noh

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Mat Noh, M., Arshad, M.R., Mohd-Mokhtar, R., Md Zain, Z., Khan, Q., Abdul Kadir, H. (2019). Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. In: Md Zain, Z., et al. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 . Lecture Notes in Electrical Engineering, vol 538. Springer, Singapore. https://doi.org/10.1007/978-981-13-3708-6_8

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  • DOI: https://doi.org/10.1007/978-981-13-3708-6_8

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-3707-9

  • Online ISBN: 978-981-13-3708-6

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