TELKOMNIKA Telecommunication, Computing, Electronics and Control
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis
Subject
Dynamics control, Remotely operated vehicle, Sliding mode control, Tuning optimization
Description
Remotely Operated Vehicle also known as ROV is a vehicle with high
nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
nonlinearity and uncertainty parameters that requires a robust control system to maintain stability. The nonlinearity and uncertainty of ROV are caused by underwater environmental conditions and by the movement of the vehicle SMC is one of the control systems that can overcome nonlinearity and uncertainty with the given robust system. This work aims to control velocity of the vehicle with proposes the use of modified integral SMC compensate error in ROV and the use of particle swarm optimization (PSO) to optimize the adjustment of SMC parameters. The ROV used in this paper has a configuration of six thrusters with five DoF movements that can be controlled. Modified integral sliding mode is used to control all force direction to increase the convergence of speed error. Adjustment optimization techniques with PSO are used to determine four values of sliding control parameters for five DoF. Using Lyapunov stability approach control law of sliding mode is derived and its global stability proved mathematically. Simulation results are conducted to evaluate the effectiveness of Modified Integral SMC and compared with nonlinear control.
Creator
Syadza Atika Rahmah, Eko Henfri Binugroho, Raden Sanggar Dewanto, Dadet Pramadihanto
Source
DOI: 10.12928/TELKOMNIKA.v18i3.14781
Publisher
Universitas Ahmad Dahlan
Date
June 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Syadza Atika Rahmah, Eko Henfri Binugroho, Raden Sanggar Dewanto, Dadet Pramadihanto, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis,” Repository Horizon University Indonesia, accessed April 8, 2025, https://repository.horizon.ac.id/items/show/3846.
Velocity control of ROV using modified integral SMC with optimization tuning based on Lyapunov analysis,” Repository Horizon University Indonesia, accessed April 8, 2025, https://repository.horizon.ac.id/items/show/3846.