A re-configuring sliding-mode controller with adjustable robustness

In this paper, a controller design method for underwater vehicles is presented, which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance distribution information can be obtained and used to update the corrective gain vector of the sliding-mode controller. This increases the robustness of the controller and, hence, keeps the system performance within acceptable limits. Proposed method is validated with simulations on a submarine model.

[1]  John R. Broussard,et al.  Application of precomputed control laws in a reconfigurable aircraft flight control system , 1989 .

[2]  Ron J. Patton,et al.  FAULT-TOLERANT CONTROL SYSTEMS: THE 1997 SITUATION , 1997 .

[3]  Ian Postlethwaite,et al.  A Robust Design Approach to Integrated Controls and Diagnostics , 1996 .

[4]  Lionel Lapierre,et al.  Nonlinear Path Following Control of Autonomous Underwater Vehicles , 2003 .

[5]  L. Borgman,et al.  Ocean wave simulation for engineering design , 1967 .

[6]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[7]  Aaron J. Ostroff.  Techniques for Accommodating Control Effector Failures on a Mildly Statically Unstable Airplane , 1985, 1985 American Control Conference.

[8]  Sarah K. Spurgeon,et al.  Sliding Mode Control , 1998 .

[9]  Gary G. Yen,et al.  Fault tolerant control: an intelligent sliding mode control strategy , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[10]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[11]  Marc Bodson,et al.  Flight control reconfiguration using adaptive methods , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[12]  Meir Pachter,et al.  QFT applied to fault tolerant flight control system design , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[13]  Marc Bodson,et al.  Multivariable adaptive algorithms for reconfigurable flight control , 1997, IEEE Trans. Control. Syst. Technol..

[14]  W. D. Morse,et al.  Model following reconfigurable flight control system for the AFTI/F-16 , 1990 .

[15]  H. E. Rauch,et al.  Autonomous control reconfiguration , 1995 .

[16]  Y. Istefanopulos,et al.  DESIGN OF AN ADAPTIVE CONTROLLER FOR SUBMERSIBLES VIA MULTIMODEL GAIN SCHEDULING , 1995 .

[17]  D. P. Stoten,et al.  Depth control of a submersible vehicle , 1981 .