Title :
Reconfigurable sliding mode control for submarine manoeuvring
Author :
McGookin, Euan W.
Author_Institution :
Dept. of Electron. & Electr. Eng., Glasgow Univ., UK
Abstract :
The design of a sliding mode controller for the heading manoeuvres of a nonlinear submarine model is presented. The performance of this control algorithm is evaluated for zigzag course changing manoeuvres at high speed. Also presented are reconfiguration processes based on sliding mode observers. These allow the control system to compensate for feedback sensor failures. Both the controller and the observer systems are evaluated for specific simulated manoeuvres in terms of performance and compensation in the presence of minor and major sensor faults
Keywords :
compensation; dynamics; feedback; matrix algebra; observers; position control; underwater vehicles; variable structure systems; feedback sensor failures; heading manoeuvres; nonlinear submarine model; reconfigurable sliding mode control; sliding mode observers; submarine manoeuvring; zigzag course changing manoeuvres; Automatic control; Control nonlinearities; Control systems; Feedback; Nonlinear control systems; Nonlinear dynamical systems; Open loop systems; Sensor systems; Sliding mode control; Underwater vehicles;
Conference_Titel :
OCEANS, 2001. MTS/IEEE Conference and Exhibition
Conference_Location :
Honolulu, HI
Print_ISBN :
0-933957-28-9
DOI :
10.1109/OCEANS.2001.968102
