NDLI: Design and analysis of a new AUV’s sliding control system based on dynamic boundary layer

Content Provider	Springer Nature Link
Author	Gao, Fudong Pan, Cunyun Han, Yanyan
Copyright Year	2013
Abstract	The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid, which bring difficult to the stability of the AUV’s control system. In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV’s attitude control and the disturbances caused by the external marine environment, a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed, which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions. In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV’s attitude control, the dynamic boundary layer method is used to adjust the sliding boundary layer thickness so as to obtain the best anti-chattering effects. Then the impacts of system parameters, rudder actuator’s constraints and boundary layer on the sliding mode controller are computed and analyzed to verify the effectiveness and robustness of the sliding mode controller based on dynamic boundary layer. The computational results show that the original divergent second-order sliding mode controller can still effectively implement the AUV’s attitude control through dynamically adjusting the sliding boundary layer thickness. The dynamic boundary layer method ensures the stability of the system and does not exceed the amplitude constraint of the rudder actuator, which provides a theoretical guidance and technical support for the control system design of the new AUV in real complex sea conditions.
Starting Page	35
Ending Page	45
Page Count	11
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	26
Issue Number	1
e-ISSN	21928258
Language	English
Publisher	Chinese Mechanical Engineering Society
Publisher Date	2013-02-01
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	dynamic boundary layer new AUV nonlinear system sliding mode control Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

Nonlinear vibration induced by the water-film whirl and whip in a sliding bearing rotor system

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

Adaptive backstepping slide mode control of pneumatic position servo system

Dynamic flow control strategies of vehicle SCR Urea Dosing System

Development of a hand exoskeleton system for index finger rehabilitation

Effects of joint on dynamics of space deployable structure

Design and analysis of a new AUV’s sliding control system based on dynamic boundary layer

Similar Documents

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

Semi-active sliding mode control of vehicle suspension with magneto-rheological damper

Nonlinear vibration induced by the water-film whirl and whip in a sliding bearing rotor system

Adaptive robust motion trajectory tracking control of pneumatic cylinders with LuGre model-based friction compensation

Adaptive backstepping slide mode control of pneumatic position servo system

Dynamic flow control strategies of vehicle SCR Urea Dosing System

Development of a hand exoskeleton system for index finger rehabilitation

Effects of joint on dynamics of space deployable structure

Design and analysis of a new AUV’s sliding control system based on dynamic boundary layer