Research on the sliding mode control for underactuated surface vessels via parameter estimation

2017 ◽  
Vol 91 (2) ◽  
pp. 1163-1175 ◽  
Author(s):  
Zhijian Sun ◽  
Guoqing Zhang ◽  
Jian Yang ◽  
Weidong Zhang
Keyword(s):  
Parameter Estimation ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mode Control ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

scholarly journals Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

2021 ◽  
Vol 9 (11) ◽  
pp. 1204
Author(s):  
Yunfei Xiao ◽  
Yuan Feng ◽  
Tao Liu ◽  
Xiuping Yu ◽  
Xianfeng Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
External Disturbances ◽  
Mode Control ◽  
Surface Vessels ◽  
Attitude Tracking ◽  
Underactuated Surface Vessels

This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.

Sliding Mode Controller and Filter Applied to a Model oft an Electrohydraulic Actuator System

2005 ◽  
Author(s):  
Shu Wang ◽  
Richard Burton ◽  
Saeid Habibi
Keyword(s):  
Parameter Estimation ◽  
Sliding Mode Control ◽  
Stochastic Systems ◽  
Sliding Mode ◽  
Variable Structure ◽  
Variable Structure Systems ◽  
Estimation Strategy ◽  
Mode Control ◽  
Actuator System ◽  
Electrohydraulic Actuator

A new robust state and parameter estimation strategy called the Variable Structure Filter (VSF) has recently been proposed and used for state and parameter estimation. A very common problem of linear stochastic systems is to design a combined robust control and estimation strategy, given system and noise uncertainties. Variable Structure Control (VSC) and its special form of Sliding Mode Control (SMC) show superb robustness. This paper proposes a new strategy involving the Sliding Mode Control and the Variable Structure Filter. Both the estimator and controller are based on the concepts of Variable Structure Systems (VSS). In the presence of bounded parametric uncertainties and noise, a robust stability is guaranteed. Further more, the combined strategy can be used to achieve high regulation rates or short settling times. The object of this paper is to introduce this combined VSF and SMC strategy and to demonstrate its application to a third order model of a high precision hydrostatic system, referred to as the Electrohydraulic Actuator System (EHA).

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