Sliding Mode Controller for Near-surface Motion Model of the Submarine with Static Catastrophe

摘要：

In this paper, a static catastrophe problem for submarines is considered, where the near-surface motion model is studied. At the equilibrium points, center manifold theory is used to reduce the motion equations to a lower layer system which contains all dynamic properties of the original system. Then, transcritical bifurcation and static catastrophe are determined. To suppress nonlinear phenomena, a sliding surface is proposed for the linearization system derived by feedback linearization of submarine near-surface model. Based on exponential tendency law, a sliding mode control law is developed. In the end, the simulation results show the effectiveness of the control law.

关键词： Sliding mode control Static catastrophe Center manifold theory Bifurcation

作者: Zhao Xinhua Duan Guangren Wang Xiaobin Gao san

作者单位: Harbin Institute of Technology & College of Automation, Harbin Engineering University, Harbin, 150001, China

会议类型: 国际会议

会议名称: 2012 International Conference on Intelligent System Design and Engineering Applications(2012年智能系统设计与工程应用国际会议 ISDEA 2012)

会议地点: 三亚

会议语种:英文

页码: 520-524

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）