State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement
文献类型：期刊论文
| 作者 | Zhou HY(周焕银); Liu KZ(刘开周) ; Feng XS(封锡盛)
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| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2011 |
| 卷号 | 8期号:2页码:262-268 |
| 关键词 | Autonomous underwater vehicle (AUV) state feedback sliding mode control (SMC) switching manifold Hurwitz matrix Matlab platform Lyapunov function |
| ISSN号 | 1476-8186 |
| 产权排序 | 1 |
| 中文摘要 | This paper presents one new method to eliminate the chattering of state feedback SMC (Sliding Mode Control) law for the mobile control of AUV (Autonomous Underwater Vehicle) which is one nonlinear and suffers from unknown disturbances system. SMC is one well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by preset one Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile the best switching surface is achieved by eigenvalues of the Hurwitz matrix. The state feedback control parameters not only apply to control the states of AUV but also connect with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by MATLAB platform of one AUV model. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7471]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Zhou HY,Liu KZ,Feng XS. State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement[J]. International Journal of Automation and Computing,2011,8(2):262-268. |
| APA | Zhou HY,Liu KZ,&Feng XS.(2011).State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement.International Journal of Automation and Computing,8(2),262-268. |
| MLA | Zhou HY,et al."State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement".International Journal of Automation and Computing 8.2(2011):262-268. |
入库方式： OAI收割
来源：沈阳自动化研究所
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