Nonsingular Terminal Sliding Mode Control of ROV system with three methods Control ROV

被引：0

作者：

Abadi, Ali Soltani Sharif ^{[1
]}

Hosseinabadi, Pooyan Alinaghi ^{[2
]}

机构：

[1] Yazd Univ, Fac Engn, Yazd, Iran

[2] Malaya Univ, Fac Engn, Kuala Lumpur, Malaysia

来源：

2017 5TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2017) | 2017年

关键词：

NTSMC; ROV; Control; Sliding Mode; Terminal; Finite Time; Chattering; CONSENSUS;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Finite time stability is a more complete concept than asymptotic stability. In this paper, The Terminal Sliding Mode Control (TSMC) method is proposed to design three finite time control inputs with different settling time. The control inputs of the system are derived firstly according to three different lemmas and Lyapunov theorem and subsequently, they are simulated in MATLAB Simulink environment, and comparison is made between them. The designed control inputs, in addition to finite time stability, have other advantages such as robustness against uncertainties and external disturbances, as well as remove undesirable chattering occurrence completely.

引用

页码：620 / 623

页数：4