Now showing items 1-5 of 5

  • A re-configuring sliding-mode controller with a ustable robustness 

    In this paper a controller design method for underwater vehicles is presented which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance distribution information can be obtained and used to update the corrective gain vector of the sliding-mode controller. This increases the robustness of the controller and hence keeps the system performance within acceptable limits. Proposed method is validated with simulations on a ...

  • Active reconfigurable control of a submarine with indirect adaptive control 

    Authors:Demirci, Ufuk; Kerestecioǧlu, Feza
    Publisher and Date:(2003)
    An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. Depth and pitch angle of the submarine is controlled by means of the well-known indirect self-tuning method. In case of a system fault estimated parameters of the submarine model have been used to update the controller coefficients.

  • Fault tolerant control with re-configuring sliding-mode schemes 

    Authors:Demirci, Ufuk; Kerestecioǧlu, Feza
    Publisher and Date:(2005)
    In this paper a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mode controller. As a result fault tolerant adaptive controllers keep the system performance within acceptable ...

  • Fault tolerant control with re-configuring sliding-mode schemes 

    Authors:Demirci, Ufuk; Kerestecioğlu, Feza
    Publisher and Date:(Tübitak, 2005)
    In this paper, a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mode controller. As a result, fault tolerant adaptive controllers keep the system performance within ...

  • Sliding mode controller solution for the shallow submerged operation ok a submarine 

    Authors:Demirci, Ufuk; Kerestecioǧlu, Feza
    Publisher and Date:(IFAC Secretariat, 2003)
    In this paper a submarine controller is presented which can accommodate the sea wave effects on a submarine a(shallow water operation. Sliding mode method is implemented in a way that the robustness of the controller increased with respect to disturbance distribution vector in order to perform the depth control of a shallow submerged submarine under sea wave disturbances. Designed controller kept the submarine performance within acceptable limits. Copyright © 2003 IFAC.