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

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Date

2004

Authors

Kerestecioğlu, Feza

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Pergamon-Elsevier Science Ltd

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Abstract

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 submarine model. (C) 2003 Published by Elsevier Ltd.

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Keywords

Control re-configuration, Autonomous systems, Sliding-mode control, Disturbance rejection, Underwater vehicle autopilots

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Citation

15

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Q1

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Q1

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Volume

31

Issue

13

Start Page

1669

End Page

1682