We present a switched control law for stabilizing an underactuated underwater vehicle (UUV) moving in a horizontal plane in a neutrally buoyant condition. The control law consists of a sequential series of control actions, each of which achieves a certain objective, finally resulting in the system being moved to the origin. Finite-time controllers are employed at each stage to achieve the desired objective. Simulation results are presented to validate the control law. © 2007 Elsevier B.V. All rights reserved.

Arun D. Mahindrakar

Department of Electrical Engineering

Buoyancy

Computer simulation

Control theory

SEQUENTIAL SWITCHING

Discontinuous stabilization

Finite-time controllers

UNDERACTUATED UNDERWATER VEHICLE

Amphibious vehicles

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

Communications in Nonlinear Science and Numerical Simulation

We present a switched control algorithm to stabilize a car-like mobile robot which possesses velocity level nonholonomic constraint. The control approach rests on splitting the system into several second-order subsystems and then stabilizing the system sequentially using finite-time controllers, finally resulting in the mobile robot being moved from one point to another point. State dependent switching control is employed in which the controllers switches on a thin surface in the state-space. Robustness analysis is presented by redefining the switching signal using relaxed switching surface. Both, non-robust and robust controllers are validated through numerical simulation. © 2008 Elsevier B.V. All rights reserved.

Switched control of a nonholonomic mobile robot

Automatica

Principles of 2-sliding mode design

IEEE Transactions on Automatic Control

Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

International Journal of Robust and Nonlinear Control

Discontinuous feedback control of a special class of underactuated mechanical systems

Dynamics and control of a class of underactuated mechanical systems

A class of bounded continuous time-invariant finite-time stabilizing feedback laws is given for the double integrator. Lyapunov theory is used to prove finite-time convergence. For the rotational double integrator, these controllers are modified to obtain finite-time-stabilizing feedbacks that avoid unwinding.

Continuous finite-time stabilization of the translational and rotational double integrators

A switched controller for an underactuated underwater vehicle

Journal	Communications in Nonlinear Science and Numerical Simulation
ISSN	10075704
Open Access	No