State feedback sliding mode control without chattering by constructing Hurwitz matrix for AUV movement

Authors:
Huan-Yin Zhou;Kai-Zhou Liu;Xi-Sheng Feng
Affiliations:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, PRC 110016 and School of Electric, East China Institute of Technology, Fuzhou, PRC 344000 ...;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, PRC 110016;State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, PRC 110016
Venue:
International Journal of Automation and Computing
Year:
2011

Citing 4
Cited 3

Adaptive fuzzy tracking control for a class of perturbed strict-feedback nonlinear time-delay systems

Fuzzy Sets and Systems
Depth control of remotely operated underwater vehicles using an adaptive fuzzy sliding mode controller

Robotics and Autonomous Systems
An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles

Robotics and Autonomous Systems
Fuzzy rule-based combination of linear and switching state-feedback controllers

Fuzzy Sets and Systems

Sliding mode control with disturbance observer for a class of nonlinear systems

International Journal of Automation and Computing
A contractive sliding-mode MPC algorithm for nonlinear discrete-time systems

International Journal of Automation and Computing
Robust sliding mode control using adaptive switching gain for induction motors

International Journal of Automation and Computing

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a new method to eliminate the chattering of state feedback sliding mode control (SMC) law for the mobile control of an autonomous underwater vehicle (AUV) which is nonlinear and suffers from unknown disturbances system. SMC is a well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.