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A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-09-30
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A novel full-order terminal sliding-mode controller (FOTSMC) based on the finite-time disturbance observer (FTDO) is proposed for the “JIAOLONG” manned submersible with lumped disturbances.
First, a finite-time disturbance observer (FTDO) is developed to estimate the lumped disturbances including the external disturbances and model uncertainties.
Second, a full-order terminal sliding-mode surface is designed for the manned submersible, whose sliding-mode motion behaves as full-order dynamics rather than reduced-order dynamics in conventional sliding-mode control systems.
Then, a continuous sliding-mode control law is developed to avoid chattering phenomenon, as well as to drive the system outputs to the desired reference trajectory in finite time.
Furthermore, the closed-loop system stability analysis is given by Lyapunov theory.
Finally, the simulation results demonstrate the satisfactory tracking performance and excellent disturbance rejection capability of the proposed finite-time disturbance observer based full-order terminal sliding-mode control (FTDO-FOTSMC) method.
American Psychological Association (APA)
Fang, Xing& Liu, Fei. 2018. A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1205553
Modern Language Association (MLA)
Fang, Xing& Liu, Fei. A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances. Mathematical Problems in Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1205553
American Medical Association (AMA)
Fang, Xing& Liu, Fei. A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1205553
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1205553