Adaptive Controller Design for Dynamic Maneuvers of High Speed Under-water Vehicles

• Published in: 中国海洋工程（英文版） Vol. 36; no. 2; pp. 311 - 321
• Main Authors: Bui Duc Hong PHUC, Sam-Sang YOU, Phuc Thinh DOAN, Sang-Do LEE
• Format: Journal Article
• Language: English
• Published: Department of Mechanical Engineering,The University of Tulsa,Tulsa,OK 74104,USA%Division of Mechanical Engineering,Korea Maritime and Ocean University,Busan 49112,Republic of Korea%Institute of Interdisciplinary Social Sciences,Nguyen Tat Thanh University,Ho Chi Minh City,Vietnam%Division of Navigation and Information System,Mokpo National Maritime University,Mokpo,Jeollanam-do 58628,Republic of Korea 2022
• Subjects: planing force; payload change; adaptive sliding mode control; underwater vehicles; supercavitating; fractional order calculus
• ISSN: 0890-5487
• DOI: 10.1007/s13344-022-0027-6

The control synthesis of the high-speed underwater vehicle faces many technical challenges due to its inherent structure and surrounding operational environment.In this paper,the dynamical behavior is firstly described through a bifurcation analysis to give some insights for robust control synthesis.Then a novel adaptive fractional-order sliding mode controller(AFOSMC)is realized to effectively manipulate the supercavitating vehicle against payload changes,nonlinear planing force,and external disturbances.The fractional order(FO)calculus can offer more flexibility and more freedom for tuning active control synthesis than the integer-order counterpart.In addition,the adaptation law has been presented to directly handle the payload change effects.The stability of the controlled vehicle system is proven via Lyapunov stability theory.Next,the dynamic performance of the proposed controller is verified through extensive simulation results,which demonstrate the control accuracy with faster responses compared with existing integer-order controllers.Finally,the proposed fractional order controllers can provide higher performance than their integer order counterparts with control algorithms.