Control of Supercavitating Vehicles in the Vertical Plane Using Sliding Mode

被引：0
|
作者：
Zhao, Guoliang [1 ]
Fan, Jiali [1 ]
Lv, Xiaolong [1 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年
关键词：
supercavitating vehicles; sliding mode control; MIMO; nonlinear system;
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：
Because of supercavitation, there is no buoyancy force to balance the gravity of supercavitating vehicle. In addition, there exists the nonlinear planing force on the vehicle. The motion of vehicle in the vertical plane tends to be unstable and the dynamic model of it is complicated and nonlinear. By introducing a feed-forward compensation and nonlinear state feedback, the nonlinear system could be treated as a multi-input and multi-output (MIMO) linear system. Due to the time-varying factors and un-modelled dynamics of system, the sliding mode control is used to design the controller for motion of supercavitation vehicle in the vertical plane. The results of simulation show the effectiveness of the controller designed in the paper.
引用
收藏
页码：1800 / 1805
页数：6
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