Huan-Yin Zhou, Kai-Zhou Liu and Xi-Sheng Feng. State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement. International Journal of Automation and Computing, vol. 8, no. 2, pp. 262-268, 2011. https://doi.org/10.1007/s11633-011-0581-5
Citation: Huan-Yin Zhou, Kai-Zhou Liu and Xi-Sheng Feng. State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement. International Journal of Automation and Computing, vol. 8, no. 2, pp. 262-268, 2011. https://doi.org/10.1007/s11633-011-0581-5

State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement

doi: 10.1007/s11633-011-0581-5
Funds:

This work was supported by National Basic Research Program of China (973 Program) (No.6138101004-3), Key Project of Innovation Knowledge of Chinese Academy of Sciences (No.YYYJ-0917), Innovation Knowledge of Chinese Academy of Sciences (No.O7A6210601), and Jiangxi Province Education Fund (No.GJJ10171).

  • Received Date: 2010-04-16
  • Rev Recd Date: 2010-09-01
  • Publish Date: 2011-05-01
  • This paper presents a new method to eliminate the chattering of state feedback sliding mode control (SMC) law for the mobile control of an autonomous underwater vehicle (AUV) which is nonlinear and suffers from unknown disturbances system. SMC is a well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.

     

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