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State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement
Zhou HY(周焕银); Liu KZ(刘开周); Feng XS(封锡盛)
Department水下机器人研究室
Source PublicationInternational Journal of Automation and Computing
ISSN1476-8186
2011
Volume8Issue:2Pages:262-268
Indexed ByEI
EI Accession number20112214014445
Contribution Rank1
KeywordAutonomous Underwater Vehicle (Auv) State Feedback Sliding Mode Control (Smc) Switching Manifold Hurwitz Matrix Matlab Platform Lyapunov Function
AbstractThis paper presents one new method to eliminate the chattering of state feedback SMC (Sliding Mode Control) law for the mobile control of AUV (Autonomous Underwater Vehicle) which is one nonlinear and suffers from unknown disturbances system. SMC is one well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by preset one Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile the best switching surface is achieved by eigenvalues of the Hurwitz matrix. The state feedback control parameters not only apply to control the states of AUV but also connect with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by MATLAB platform of one AUV model.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7471
Collection水下机器人研究室
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.School of Electric, East China Institute of Technology, Fuzhou 344000, China
3.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Zhou HY,Liu KZ,Feng XS. State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement[J]. International Journal of Automation and Computing,2011,8(2):262-268.
APA Zhou HY,Liu KZ,&Feng XS.(2011).State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement.International Journal of Automation and Computing,8(2),262-268.
MLA Zhou HY,et al."State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement".International Journal of Automation and Computing 8.2(2011):262-268.
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