Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG)
This paper presents the design and implementation of the integral super twisting sliding mode control for the tracking control of a linearized model of longitudinal plane autonomous underwater glider. The performance of the proposed controller is evaluated in terms of chattering reduction in control...
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| Format: | Book Chapter |
| Language: | English English |
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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21754/1/book55%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf http://umpir.ump.edu.my/id/eprint/21754/2/book55.1%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf |
| _version_ | 1796992819273924608 |
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| author | Maziyah, Mat Noh Mohd Rizal, Arshad Rosmiwati, Mohd Mokhtar Zainah, Md. Zain |
| author_facet | Maziyah, Mat Noh Mohd Rizal, Arshad Rosmiwati, Mohd Mokhtar Zainah, Md. Zain |
| author_sort | Maziyah, Mat Noh |
| collection | UMP |
| description | This paper presents the design and implementation of the integral super twisting sliding mode control for the tracking control of a linearized model of longitudinal plane autonomous underwater glider. The performance of the proposed controller is evaluated in terms of chattering reduction in control input for the nominal system as well as the system in the presence of external disturbance. The controller is designed for the gliding path from 45° to 30° downward and upward. The performance of the proposed controller is compared with the quasi sliding mode control (boundary layer), integral sliding control, and super twisting sliding mode control. The simulation results have shown that the proposed controller is able to eliminate the undesired chattering.in control inputs. |
| first_indexed | 2024-03-06T12:25:18Z |
| format | Book Chapter |
| id | UMPir21754 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:25:18Z |
| publishDate | 2018 |
| publisher | Springer Singapore |
| record_format | dspace |
| spelling | UMPir217542018-08-06T02:38:54Z http://umpir.ump.edu.my/id/eprint/21754/ Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) Maziyah, Mat Noh Mohd Rizal, Arshad Rosmiwati, Mohd Mokhtar Zainah, Md. Zain QA75 Electronic computers. Computer science TK Electrical engineering. Electronics Nuclear engineering This paper presents the design and implementation of the integral super twisting sliding mode control for the tracking control of a linearized model of longitudinal plane autonomous underwater glider. The performance of the proposed controller is evaluated in terms of chattering reduction in control input for the nominal system as well as the system in the presence of external disturbance. The controller is designed for the gliding path from 45° to 30° downward and upward. The performance of the proposed controller is compared with the quasi sliding mode control (boundary layer), integral sliding control, and super twisting sliding mode control. The simulation results have shown that the proposed controller is able to eliminate the undesired chattering.in control inputs. Springer Singapore 2018-04-28 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21754/1/book55%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf pdf en http://umpir.ump.edu.my/id/eprint/21754/2/book55.1%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf Maziyah, Mat Noh and Mohd Rizal, Arshad and Rosmiwati, Mohd Mokhtar and Zainah, Md. Zain (2018) Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG). In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 305-325. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_28 DOI: 10.1007/978-981-10-8788-2_28 |
| spellingShingle | QA75 Electronic computers. Computer science TK Electrical engineering. Electronics Nuclear engineering Maziyah, Mat Noh Mohd Rizal, Arshad Rosmiwati, Mohd Mokhtar Zainah, Md. Zain Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title | Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title_full | Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title_fullStr | Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title_full_unstemmed | Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title_short | Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG) |
| title_sort | integral super twisting sliding mode control istsmc application in 1dof internal mass autonomous underwater glider aug |
| topic | QA75 Electronic computers. Computer science TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/21754/1/book55%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf http://umpir.ump.edu.my/id/eprint/21754/2/book55.1%20Integral%20super%20twisting%20sliding%20mode%20control%20%28ISTSMC%29%20application%20in%201DOF%20internal%20mass%20autonomous%20underwater%20glider%20%28AUG%29.pdf |
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