The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model
This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. T...
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| Format: | Article |
| Language: | English |
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Penerbit Universiti Teknologi Malaysia
2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf |
| _version_ | 1796990736483221504 |
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| author | Maziyah, Mat Noh M. R., Arshad Rosmiwati, Mohd Mokhtar |
| author_facet | Maziyah, Mat Noh M. R., Arshad Rosmiwati, Mohd Mokhtar |
| author_sort | Maziyah, Mat Noh |
| collection | UMP |
| description | This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time. |
| first_indexed | 2024-03-06T11:55:58Z |
| format | Article |
| id | UMPir10108 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T11:55:58Z |
| publishDate | 2015 |
| publisher | Penerbit Universiti Teknologi Malaysia |
| record_format | dspace |
| spelling | UMPir101082016-06-21T03:24:07Z http://umpir.ump.edu.my/id/eprint/10108/ The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model Maziyah, Mat Noh M. R., Arshad Rosmiwati, Mohd Mokhtar TK Electrical engineering. Electronics Nuclear engineering This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time. Penerbit Universiti Teknologi Malaysia 2015 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf Maziyah, Mat Noh and M. R., Arshad and Rosmiwati, Mohd Mokhtar (2015) The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model. Jurnal Teknologi (Sciences and Engineering), 74 (9). pp. 175-181. ISSN 0127-9696 (print); 2180-3722 (online). (Published) http://dx.doi.org/10.11113/jt.v74.4823 doi: 10.11113/jt.v74.4823 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Maziyah, Mat Noh M. R., Arshad Rosmiwati, Mohd Mokhtar The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title | The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title_full | The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title_fullStr | The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title_full_unstemmed | The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title_short | The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model |
| title_sort | evaluation of controller tracking performance based on taylor s series expansion model |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/10108/1/The%20Evaluation%20Of%20Controller%20Tracking%20Performance%20Based%20On%20Taylor%E2%80%99s%20Series%20Expansion%20Model.pdf |
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