Integral Sliding-Mode Control for an Interlocking Unmanned Underwater and Surface Vehicle System Connected by a Cable

다국어 초록 (Multilingual Abstract)

This paper presents modeling and control of the interlocking system connecting unmanned surface and underwater vehicles with an underwater cable. The research's primary objective is to determine the feasibility of the proposed system and designed controller, create a foundation for future studies with applications in maritime science. To complete it, the first step is to model the system's characteristics for the real system by using theories of hydrodynamics, Newton, and Lagrangian; subsequently, the algorithms of nonlinear controls, Lyapunov, and Barbalat criteria are applied for stable analyzing and designing the controller. Afterward, the simulations are carried out in the Matlab Simulink, which allows simulating the response of the system with control inputs similar to in the real-time environment and collecting the data directly to the workspace for processing and comparison using root-mean square error standard. The system is assumed to be used in marine environments. Therefore, the influences of the disturbance and uncertainties, such as tidal flows, surface waves, and winds, are the most dominant factors for control. Integral sliding mode control is proposed for the interlocking system to guarantee suitable stability and robustness of the system. Through the simulation results with the control of the motion system tracking to the given curve trajectory with impact disturbance, the effectiveness and feasibility of the proposed system and the control algorithm can be realized. Therefore, the practical application of this system for surveying and studying the marine environment shows promising potential.

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