Title :
Optimal specification of sliding mode control parameters for unmanned surface vessel systems
Author :
McNinch, Lucas C. ; Ashrafiuon, Hashem ; Muske, Kenneth R.
Author_Institution :
Center for Nonlinear Dynamics & Control, Villanova Univ., Villanova, PA, USA
Abstract :
This paper introduces a method based on nonlinear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an optimal performance objective, such as minimum tracking error or minimum energy. The method is demonstrated using simulations based on an experimental USV system.
Keywords :
nonlinear control systems; optimal control; predictive control; remotely operated vehicles; tracking; variable structure systems; nonlinear predictive control; optimal specification; sliding mode control parameters; sliding mode tracking control; time-invariant parameters; unmanned surface vessel systems; Control systems; Design methodology; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Predictive control; Sliding mode control; Time varying systems; Trajectory;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160064
