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Predefined-Time Neural Sliding Mode Control Based Trajectory Tracking Of Autonomous Surface Vehicle, Han Xue, Shulin Li
Predefined-Time Neural Sliding Mode Control Based Trajectory Tracking Of Autonomous Surface Vehicle, Han Xue, Shulin Li
Journal of Marine Science and Technology
With the progress and development of modern industry, it is urgent to develop a more general and mature predefined time control theory system for uncertain nonlinear systems and apply it to practical engineering systems. Therefore, a novel predefined-time sliding mode control is designed to improve the slow convergence speed of asymptotically convergent controllers and finite-time convergent controllers affected by the initial state of the system. The proposed control approach is proved to converge from the initial value to the balance position using Jensen's inequality and Liapunov theorem. The proposed control method can deal with the ship motion system having six …
Fuzzy-Sliding-Mode-Based Robust Tracking Control Of Autonomous Underwater Vehicles, Qiaomei Sun, Jinguo Chen, Wan Yu, Huashan Su
Fuzzy-Sliding-Mode-Based Robust Tracking Control Of Autonomous Underwater Vehicles, Qiaomei Sun, Jinguo Chen, Wan Yu, Huashan Su
Journal of Marine Science and Technology
Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. …
Variable-Thickness Boundary Layers For Sliding Mode Control, Chyun-Chau Fuh
Variable-Thickness Boundary Layers For Sliding Mode Control, Chyun-Chau Fuh
Journal of Marine Science and Technology
Sliding mode control is a nonlinear feedback control technique which provides good robustness against modeling uncertainties and external disturbances. However, as the uncertainties or disturbances increase, a greater control input is required, and the control signal may cause an undesirable chattering phenomenon. In general, the further the system trajectory from the origin, the more violent the chattering effect. However, as the trajectory moves closer to the origin, the degree of chattering gradually reduces. As a result, even if an attempt is made to eliminate chattering by introducing a small constant boundary layer around the sliding surface, the chattering phenomenon may …