Model-free High Order Sliding Controller for Underwater Vehicle with Transient Process

摘要：

　　Underwater environment is highly dynamic,presenting significant disturbances to the vehicle in the form of underwater currents.Additionally,the main difficulties associated with underwater control are the parametric uncertainties.The model-based controller need precise hydrodynamic coeffcients or the model of ROV,but in practice it is very hard or impossible.In order to avoid this problem,a model-free high order sliding mode controller is proposed,and design a reasonable transient process which make the controller have a good performance for any initial error condition.Performance of the proposed controller is verified using numerical simulations,implemented in a four freedom nonlinear underwater vehicle model.Simulation results show that exponential fast convergence of position and attitude,overshooting is very small,for any initial condition.And the controller is proposed needs few parameters to adjust.Algorithm is very easy to complie,could meet the engineering needs.

关键词： Model-free Transient Process Underwater Vehicle Sliding Controller

作者: Chun Nan Deng Tong Ge

作者单位: Shanghai Jiao Tong University,Underwater Engineering Research Institude,Dong chuan Road 800,Shang Ha Shanghai Jiao Tong University,Underwater Engineering Research Institude,Dong chuan Road800,Shang Hai

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1184-1190

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）