Nonsingular terminal sliding mode control of underwater remotely operated vehicles
نویسندگان
چکیده
منابع مشابه
Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and...
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Sliding mode control, due to its robustness against modelling imprecisions and external disturbances, has been successfully employed to the dynamic positioning of remotely operated underwater vehicles. In order to improve the performance of the complete system, the discontinuity in the control law must be smoothed out to avoid the undesirable chattering effects. The adoption of a properly desig...
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In order to apply the sliding mode control to a remotely operated vehicle (ROV), prior knowledge of exact bounds for parameter uncertainties and external disturbances is a prerequisite. However, these bounds may not be easily obtained because of the complexity and unpredictability of the structure of uncertainties in the dynamics of ROVs. In order to overcome such a difficulty in the control of...
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This paper presents a synthesis of a robust control for an autonomous underwater vehicle (AUV) using two different methods. The problem statement requires the design of a position and attitude control system for the vehicle such that robust trajectory following is achieved. A detailed nonlinear model of the vehicle was derived, an operating point for nominal design was selected, and a multivari...
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ژورنال
عنوان ژورنال: Transactions of the Canadian Society for Mechanical Engineering
سال: 2018
ISSN: 0315-8977
DOI: 10.1139/tcsme-2017-0051