Discrete-time quasi-sliding mode control of underwater vehicles
文献类型：会议论文
| 作者 | Zhang SW(张少伟); Yu JC(俞建成) ; Zhang AQ(张艾群)
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| 出版日期 | 2010 |
| 会议名称 | 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010 |
| 会议日期 | July 7- 9, 2010 |
| 会议地点 | Jinan, China |
| 关键词 | Computer simulation Control theory Controllers Intelligent control MIMO systems Sliding mode control Submersibles Time varying control systems Underwater equipment Water craft |
| 页码 | 6686-6690 |
| 中文摘要 | This paper presents a novel discrete-time quasi-sliding mode controller for the multiple-input multiple-output underwater vehicle system. First, according property of slow time-varying dynamics system, an on-line estimation method is used to eliminate the uncertainties of the underwater vehicle systems. Second, combined with the constant term and uncertainties estimation in the dynamics model, the discrete-time quasi-sliding mode control law is designed. And third, the chattering terms in the designed controller are eliminated by using the sliding surface exponential convergence method. Computer simulation is performed for a numerical model of an underwater vehicle in surge, sway, and yaw degrees of freedom. Results show the effectiveness of the proposed control law in the presence of system uncertainties and external disturbances without any predictive control techniques or intelligent control methods. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-6712-9 |
| WOS记录号 | WOS:000295959507078 |
| 源URL | [http://ir.sia.cn/handle/173321/7811]  |
| 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 | Zhang SW,Yu JC,Zhang AQ. Discrete-time quasi-sliding mode control of underwater vehicles[C]. 见:2010 8th World Congress on Intelligent Control and Automation, WCICA 2010. Jinan, China. July 7- 9, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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