As sliding mode (SMC) control has just a unitary switching face, the system converges slowly at the origin. An improvement was made to the linear switching surface of SMC for autonomous underwater vehicles (AUVs) in this paper. A polyline switching surface was proposed, velocity control and velocity control at appointed positions were realized. The improved switching surface was made up of the lines with different slopes, and it was smoothed at break with sigmoid functions. The slope of switching surface was set 0 to realize velocity control and the intelligent integral was introduced to reduce the steady-state error of velocity control. Finally, the simulation experiments have been carried on "XX" AUV. The results show that polyline switching surface can reduce the rise time of system and accelerate system response, the steady-state error approaches 0 at velocity control and the velocity control are realized perfectly.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Sliding mode controller with improved switching face for underwater vehicles


    Contributors:
    Li, Yueming (author) / Pang, Yongjie (author) / Guo, Bingjie (author) / Qin, Zaibai (author)


    Publication date :

    2008


    Size :

    6 Seiten, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Adaptive fuzzy sliding mode formation controller for autonomous underwater vehicles with variable payload

    Panda, Madhusmita / Das, Bikramaditya / Subudhi, Bidyadhar et al. | Emerald Group Publishing | 2021


    Sliding Mode Control of Autonomous Underwater Vehicles

    Ahmad Forouzan Tabar / Mohammad Azadi / Alireza Alesaadi | BASE | 2015

    Free access

    A chattering-free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation

    Soylu, Serdar / Buckham, Bradley J. / Podhorodeski, Ron P. | Tema Archive | 2008


    An Adaptive Neural Network Fast Terminal Sliding Mode Controller for Hovering Motion of Underwater Vehicles

    Zhang, Xiaoshuang / Wu, Baoqi | British Library Conference Proceedings | 2018