Tools for Semiglobal Stabilization by Partial State and Output Feedback
SIAM Journal on Control and Optimization
Robust exact differentiation via sliding mode technique
Automatica (Journal of IFAC)
Brief Digital second-order sliding mode control for uncertain nonlinear systems
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
International Journal of Systems Science - Advances in Sliding Mode Observation and Estimation (Part One)
International Journal of Systems Science - Advances in Sliding Mode Observation and Estimation (Part One)
Describing function analysis of second-order sliding mode observers
International Journal of Systems Science - Advances in Sliding Mode Observation and Estimation (Part One)
An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles
Robotics and Autonomous Systems
A fuzzy sliding mode controller with adaptive disturbance approximation for underwater robot
CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 2
Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents
Automatica (Journal of IFAC)
Brief paper: Output-feedback finite-time stabilization of disturbed LTI systems
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper describes some experimental results concerning the practical implementation of a recently proposed nonlinear output-feedback control technique based on the higher-order sliding mode approach. The considered technique is applied to the motion control problem for an underwater vehicle prototype that is equipped with a special propulsion system based on hydro-jets with variable-section nozzles. To cope with the heavy uncertainties affecting the prototype dynamics the output-feedback control system has been developed by means of an observer-controller that combines a second-order sliding-mode controller and a second-order sliding-mode differentiator. The reported experiments show that the proposed approach is capable of guaranteeing fast and accurate response under several operating conditions. The control system design procedure, and the main implementation issues, are discussed in detail.