A chattering-free sliding-mode control design and simulation of remotely operated vehicles

摘要：

Sliding-mode control (SMC) is widely used in motion control of underwater vehicles. But the chattering problem in sliding mode control is the one of the most common handicaps for applying to real applications. To deal with the problem, a novel model-based chattering-free sliding-mode control law is proposed in this paper. The proposed sliding mode control method removes the chattering phenomenon by replacing a switching term with an adaptive continuous term. The method is robust of the dynamic parameters uncertainty and disturbance focusing on ROV. The obtained simulation results confirm the effectiveness of the proposed technique.

关键词： Remotely operated vehicles Dynamic model Sliding-mode control Adaptive control

作者: Bing Sun Daqi Zhu

作者单位: with Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai,200135,China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 4181-4186

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）