{"title":"水下航行器横向动力学的滑模控制","authors":"I. Khan, A. I. Bhatti, Q. Khan, Q. Ahmad","doi":"10.1109/IBCAST.2012.6177521","DOIUrl":null,"url":null,"abstract":"This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.","PeriodicalId":251584,"journal":{"name":"Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST)","volume":"297 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"Sliding mode control of lateral dynamics of an AUV\",\"authors\":\"I. Khan, A. I. Bhatti, Q. Khan, Q. Ahmad\",\"doi\":\"10.1109/IBCAST.2012.6177521\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.\",\"PeriodicalId\":251584,\"journal\":{\"name\":\"Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST)\",\"volume\":\"297 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-04-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IBCAST.2012.6177521\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 2012 9th International Bhurban Conference on Applied Sciences & Technology (IBCAST)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IBCAST.2012.6177521","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
摘要
从传统的一阶滑模控制到积分滑模控制、超扭转算法和实扭转算法，提出了用于自主水下航行器(AUV)横向动力学跟踪控制的各种滑模技术。此外，给出了横向动力学的可控性和可观测性分析，并给出了一个slotime观测器[J]。E Slotine, J. K . Hedrick, E. A. Misawa 1987]也被提出。在仿真结果的基础上，对各种控制器进行了比较。高阶SMC提供无抖振跟踪和无模型控制，对参数变化具有鲁棒性。
Sliding mode control of lateral dynamics of an AUV
This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.
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