Full-order sliding-mode control of manned submersible in the presence of lumped disturbances

被引：1
|
作者：
Fang X. [1 ]
Liu F. [1 ]
Gao X. [2 ]
机构：
[1] Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi, 214122, Jiangsu
[2] National Deep Sea Center, Qingdao, 266237, Shandong
来源：
Fang, Xing (xingfang@jiangnan.edu.cn) | 1626年 / South China University of Technology卷 / 35期
基金：
中国国家自然科学基金;
关键词：
Disturbance rejection; Manned submersible; Nonlinear disturbance observer; Sliding mode control;
D O I：
10.7641/CTA.2018.80288
中图分类号：
学科分类号：
摘要：
In this paper, a novel disturbance-observer based full-order sliding mode control (DOB--FOSMC) method is proposed for the JIAOLONG manned submersible in the presence of external disturbances, model uncertainties, and un-modeled dynamics. First of all, a six-degree-of-freedoms (DOFs) dynamic model of the manned submersible system is presented. Then, an extended nonlinear disturbance observer is employed to estimate the lumped disturbances. In addition, a full-order sliding mode surface that is able to illustrate the full dynamics of the manned submersible is designed. And the sliding mode control law is developed for the manned submersible system. Furthermore, the stability analysis of the closed-loop system is given based on the Lyapunov theory. Finally, some comparative simulation results are presented to demonstrate the effectiveness and superiority of the proposed DOB--FOSMC method for manned submersible system. This novel DOB--FOSMC method has two key advantages: its capabilities to illustrate the full dynamics of systems and to suppress the chattering phenomenon. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：1626 / 1634
页数：8
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