Nonlinear variable structure double mode control of AUV

Demin Xu; Weisheng Yan; Yang Shi

doi:10.1109/UT.2000.852582

Nonlinear variable structure double mode control of AUV

Demin Xu, Weisheng Yan, Yang Shi

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

In order to achieve fast response and no chattering, a nonlinear variable structure double mode controller for SISO systems is presented and applied in three channels control for AUV. This controller employs the nonlinear sliding-mode control which possesses the "quasi-time-optimal-switching-surface" when the state is far from the equilibrium point, and can be automatically turned into linear sliding mode controller which possesses the integral type linear switching surface when the state is near the equilibrium one. It is believed that this controller has the following distinguishing features: 1) nearly time-optimal response speed, 2) very small overshoot, 3) no static error, and 4) no chattering.

Original language	English
Title of host publication	Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	425-430
Number of pages	6
ISBN (Electronic)	0780363787, 9780780363786
DOIs	https://doi.org/10.1109/UT.2000.852582
State	Published - 2000
Event	2nd International Symposium on Underwater Technology, UT 2000 - Tokyo, Japan Duration: 23 May 2000 → 26 May 2000

Publication series

Name	Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000

Conference

Conference	2nd International Symposium on Underwater Technology, UT 2000
Country/Territory	Japan
City	Tokyo
Period	23/05/00 → 26/05/00

Keywords

AUV
Integral Type Linear Switching Surface
Quasi-Time-Optimal-Switching-Surface
Variable Structure Control

Access to Document

10.1109/UT.2000.852582

Cite this

Xu, D., Yan, W., & Shi, Y. (2000). Nonlinear variable structure double mode control of AUV. In Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000 (pp. 425-430). Article 852582 (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UT.2000.852582

@inproceedings{fa377b7bbd3b440290fd387bbd4f4442,

title = "Nonlinear variable structure double mode control of AUV",

abstract = "In order to achieve fast response and no chattering, a nonlinear variable structure double mode controller for SISO systems is presented and applied in three channels control for AUV. This controller employs the nonlinear sliding-mode control which possesses the {"}quasi-time-optimal-switching-surface{"} when the state is far from the equilibrium point, and can be automatically turned into linear sliding mode controller which possesses the integral type linear switching surface when the state is near the equilibrium one. It is believed that this controller has the following distinguishing features: 1) nearly time-optimal response speed, 2) very small overshoot, 3) no static error, and 4) no chattering.",

keywords = "AUV, Integral Type Linear Switching Surface, Quasi-Time-Optimal-Switching-Surface, Variable Structure Control",

author = "Demin Xu and Weisheng Yan and Yang Shi",

note = "Publisher Copyright: {\textcopyright} 2000 IEEE.; 2nd International Symposium on Underwater Technology, UT 2000 ; Conference date: 23-05-2000 Through 26-05-2000",

year = "2000",

doi = "10.1109/UT.2000.852582",

language = "英语",

series = "Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "425--430",

booktitle = "Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000",

}

Xu, D, Yan, W & Shi, Y 2000, Nonlinear variable structure double mode control of AUV. in Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000., 852582, Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000, Institute of Electrical and Electronics Engineers Inc., pp. 425-430, 2nd International Symposium on Underwater Technology, UT 2000, Tokyo, Japan, 23/05/00. https://doi.org/10.1109/UT.2000.852582

Nonlinear variable structure double mode control of AUV. / Xu, Demin; Yan, Weisheng; Shi, Yang.
Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000. Institute of Electrical and Electronics Engineers Inc., 2000. p. 425-430 852582 (Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Nonlinear variable structure double mode control of AUV

AU - Xu, Demin

AU - Yan, Weisheng

AU - Shi, Yang

PY - 2000

Y1 - 2000

N2 - In order to achieve fast response and no chattering, a nonlinear variable structure double mode controller for SISO systems is presented and applied in three channels control for AUV. This controller employs the nonlinear sliding-mode control which possesses the "quasi-time-optimal-switching-surface" when the state is far from the equilibrium point, and can be automatically turned into linear sliding mode controller which possesses the integral type linear switching surface when the state is near the equilibrium one. It is believed that this controller has the following distinguishing features: 1) nearly time-optimal response speed, 2) very small overshoot, 3) no static error, and 4) no chattering.

AB - In order to achieve fast response and no chattering, a nonlinear variable structure double mode controller for SISO systems is presented and applied in three channels control for AUV. This controller employs the nonlinear sliding-mode control which possesses the "quasi-time-optimal-switching-surface" when the state is far from the equilibrium point, and can be automatically turned into linear sliding mode controller which possesses the integral type linear switching surface when the state is near the equilibrium one. It is believed that this controller has the following distinguishing features: 1) nearly time-optimal response speed, 2) very small overshoot, 3) no static error, and 4) no chattering.

KW - AUV

KW - Integral Type Linear Switching Surface

KW - Quasi-Time-Optimal-Switching-Surface

KW - Variable Structure Control

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DO - 10.1109/UT.2000.852582

M3 - 会议稿件

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T3 - Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000

SP - 425

EP - 430

BT - Proceedings of the 2000 International Symposium on Underwater Technology, UT 2000

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Symposium on Underwater Technology, UT 2000

Y2 - 23 May 2000 through 26 May 2000

ER -

Nonlinear variable structure double mode control of AUV

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