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Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles
Joint Authors
Wang, Yaoyao
Gu, Linyi
Chen, Jiawang
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-25
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Medicine
Information Technology and Computer Science
Abstract EN
For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology.
The equivalent output injection SMO is applied to reconstruct the full states in finite time.
Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time.
The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory.
Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method.
Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.
American Psychological Association (APA)
Wang, Yaoyao& Chen, Jiawang& Gu, Linyi. 2014. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-19.
https://search.emarefa.net/detail/BIM-1051276
Modern Language Association (MLA)
Wang, Yaoyao…[et al.]. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles. The Scientific World Journal No. 2014 (2014), pp.1-19.
https://search.emarefa.net/detail/BIM-1051276
American Medical Association (AMA)
Wang, Yaoyao& Chen, Jiawang& Gu, Linyi. Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-19.
https://search.emarefa.net/detail/BIM-1051276
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1051276