Adaptive Sliding Mode Controller Design for a Supercavitating Vehicle
Supercavitating vehicles have special characteristics from traditional underwater vehicles because of supercavitation. The motion of the vehicle tends to be unstable, and the dynamics of it is nonlinear and strongly coupled. Due to the time-varying factors, delay-dependent behavior and unmodeled dynamics of system, a simplified model is developed. For the supercavitating vehicle with the mismatched uncertainties, continuous sliding mode controller is designed, with an adaptive technology which is used to estimate the unknown upper bound of mismatched uncertainties. Meanwhile, upper bound of parameter uncertainties is not required. Simulation results show the effectiveness of the controller designed in the paper.
supercavitating vehicle:mismatched uncertainties:sliding mode control:adaptive
Rui Lv Kaiping Yu Yingjie Wei Jiazhong Zhang Jinghua Wang
School of Astronautics,Harbin Institute of Technology,Harbin 150001,China
国际会议
哈尔滨
英文
889-893
2010-01-08（万方平台首次上网日期，不代表论文的发表时间）