Title :
Control of supercavitating vehicles in the vertical plane using sliding mode
Author :
Zhao, Guoliang ; Fan, Jiali ; Lv, Xiaolong
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin
Abstract :
Because of super-cavitation, there is no buoyancy force to balance the gravity of super-cavitating vehicle. In addition, there exists the nonlinear planing force on the vehicle. The motion of vehicle in the vertical plane tends to be unstable and the dynamic model of it is complicated and nonlinear. By introducing a feed-forward compensation and nonlinear state feedback, the nonlinear system could be treated as a multi-input and multi-output (MIMO) linear system. Due to the time-varying factors and un-modelled dynamics of system, the sliding mode control is used to design the controller for motion of super-cavitation vehicle in the vertical plane. The results of simulation show the effectiveness of the controller designed in the paper.
Keywords :
MIMO systems; cavitation; compensation; control system synthesis; feedforward; linear systems; nonlinear control systems; state feedback; time-varying systems; underwater vehicles; MIMO linear system; buoyancy force; controller design; feed-forward compensation; multiinput and multioutput linear system; nonlinear planing force; nonlinear state feedback; nonlinear system; sliding mode control; super-cavitating vehicle control; super-cavitation; time-varying factors; un-modelled dynamics; vehicle motion; vertical plane; Feedforward systems; Gravity; Linear systems; MIMO; Nonlinear dynamical systems; Nonlinear systems; Planing; Sliding mode control; State feedback; Vehicle dynamics; MIMO; nonlinear system; sliding mode control; supercavitating vehicles;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913275
