A new hybrid robust sliding mode control for an underwater vehicle in dive plane
In this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via H ∞ method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-var...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-09-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294019847692 |
| _version_ | 1797995934238375936 |
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| author | Majid Yarahmadi Zahra Tavanaei Sereshki |
| author_facet | Majid Yarahmadi Zahra Tavanaei Sereshki |
| author_sort | Majid Yarahmadi |
| collection | DOAJ |
| description | In this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via H ∞ method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-variant rejection parameter, and the other control signal is designed based on H ∞ control approach. The underwater vehicle dynamics are nonlinear uncertain dynamical equation with unknown external disturbances. Therefore, in this paper, an observation of the external disturbance with a time-variant gain parameter is designed. The proposed method eliminates the effects of uncertainties and chattering phenomenon. Also, the time-variant sliding function filters all the unmodeled frequencies and external noises, such as a chain of ( n − 1 ) first-order adaptive low-pass filters. A new theorem, for facilitating the presented method, is proved. Finally, two examples for demonstrating the advantages of the proposed method are simulated. |
| first_indexed | 2024-04-11T10:09:32Z |
| format | Article |
| id | doaj.art-6c6d40a538c349b69e891ab60bbce7f4 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-11T10:09:32Z |
| publishDate | 2019-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-6c6d40a538c349b69e891ab60bbce7f42022-12-22T04:30:09ZengSAGE PublishingMeasurement + Control0020-29402019-09-015210.1177/0020294019847692A new hybrid robust sliding mode control for an underwater vehicle in dive planeMajid YarahmadiZahra Tavanaei SereshkiIn this paper, a new hybrid robust tracking control for an underwater vehicle in dive plane via H ∞ method and time-variant sliding mode control is designed. The proposed controller is composed of two control signals. One control signal is designed via time-variant sliding function based on time-variant rejection parameter, and the other control signal is designed based on H ∞ control approach. The underwater vehicle dynamics are nonlinear uncertain dynamical equation with unknown external disturbances. Therefore, in this paper, an observation of the external disturbance with a time-variant gain parameter is designed. The proposed method eliminates the effects of uncertainties and chattering phenomenon. Also, the time-variant sliding function filters all the unmodeled frequencies and external noises, such as a chain of ( n − 1 ) first-order adaptive low-pass filters. A new theorem, for facilitating the presented method, is proved. Finally, two examples for demonstrating the advantages of the proposed method are simulated.https://doi.org/10.1177/0020294019847692 |
| spellingShingle | Majid Yarahmadi Zahra Tavanaei Sereshki A new hybrid robust sliding mode control for an underwater vehicle in dive plane Measurement + Control |
| title | A new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| title_full | A new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| title_fullStr | A new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| title_full_unstemmed | A new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| title_short | A new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| title_sort | new hybrid robust sliding mode control for an underwater vehicle in dive plane |
| url | https://doi.org/10.1177/0020294019847692 |
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