Controller design of an autonomous underwater vehicle using ELM-based sliding mode control
Dianrui Wang, Yue Shen, Qixin Sha, Guangliang Li, Jingtao Jiang, Bo He, Tianhong Yan · OCEANS 2017 – Anchorage · 2017
Autonomous underwater vehicles (AUVs) are becoming increasingly popular for ocean exploration, military and industrial applications. Motion control of AUV is the key to completing these missions. The classical linear Proportional Integral Derivative (PID) controllers are widely used due to its reliability and simplicity. However, it is difficult to tune the parameters in the classical PID controllers to achieve optimal performances. Thus, this paper proposes a new structure. For depth control of AUV vertical plane, we adopt dual loop control methodology with inner pitch control loop and outer depth control loop. The inner pitch controller is designed using sliding mode control (SMC) with extreme learning machine (ELM) to tune the parameters. Then, a simple proportional controller is designed in the outer loop for depth control. Besides, to verify the validity of the proposed method, simulations based on AUV dynamic model were carried out. The results show that the proposed method for depth control can guarantee the stability and robustness of control system.