Title :
Fast terminal sliding mode control for submarine course by adopting tracking-differentiator
Author :
Ji, Xia ; Dabin, Hu
Author_Institution :
Coll. of Naval Archit. & Power, Naval Univ. of Eng., Wuhan, China
Abstract :
The submarine course control system is of strong nonlinearity, time variation and strong coupling. Traditional linear control methods cannot achieve the desired performance, then a lot of nonlinear methods were used to control it. The fast terminal sliding mode control method was presented to control the submarine course in this work. Compared with the traditional sliding mode control, the fast terminal sliding mode control can achieve finite time convergence, smaller steady error, faster convergence rate and stronger robustness. The finite time convergence of the FTSM submarine course control method was proved using the Lyapunov theory. In order to obtain the differential signals, the tracking differentiator was used. The proposed control method was numerically studied and its effectiveness was verified.
Keywords :
Lyapunov methods; control nonlinearities; convergence; navigation; nonlinear control systems; robust control; time-varying systems; underwater vehicles; variable structure systems; Lyapunov theory; control nonlinearity; differential signals; fast terminal sliding mode control; finite time convergence; robustness; steady error; strong coupling; submarine course control system; time variation; tracking differentiator; Underwater vehicles; Tracking-Differentiator; control; fast terminal sliding mode; submarine course;
Conference_Titel :
Computer Application and System Modeling (ICCASM), 2010 International Conference on
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4244-7235-2
Electronic_ISBN :
978-1-4244-7237-6
DOI :
10.1109/ICCASM.2010.5622582