TY - GEN
T1 - Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC)
AU - Mat-Noh, Maziyah
AU - Arshad, M. R.
AU - Mohd-Mokhtar, Rosmiwati
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/27
Y1 - 2017/11/27
N2 - This paper presents the evaluation of super-twisting sliding mode control (STSMC) implementation in autonomous underwater glider (AUG). Underwater glider can be considered as an under-actuated system which is difficult to maneuver and it is also very much dependent on their operational environment. The nonlinear controller is designed based on nonlinear motion of equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate become the control inputs to the AUG. The controller is designed and tested for the glide path that is moving from -25° to 25°. The performance of the STSMC is compared to conventional sliding mode control (SMC) based on its response time specifications.
AB - This paper presents the evaluation of super-twisting sliding mode control (STSMC) implementation in autonomous underwater glider (AUG). Underwater glider can be considered as an under-actuated system which is difficult to maneuver and it is also very much dependent on their operational environment. The nonlinear controller is designed based on nonlinear motion of equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate become the control inputs to the AUG. The controller is designed and tested for the glide path that is moving from -25° to 25°. The performance of the STSMC is compared to conventional sliding mode control (SMC) based on its response time specifications.
KW - Autonomous underwater glider
KW - nonlinear model
KW - super-twisting sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85041411750&partnerID=8YFLogxK
U2 - 10.1109/ICSEngT.2017.8123423
DO - 10.1109/ICSEngT.2017.8123423
M3 - Conference Proceeding
AN - SCOPUS:85041411750
T3 - 2017 7th IEEE International Conference on System Engineering and Technology, ICSET 2017 - Proceedings
SP - 71
EP - 76
BT - 2017 7th IEEE International Conference on System Engineering and Technology, ICSET 2017 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on System Engineering and Technology, ICSET 2017
Y2 - 2 October 2017 through 3 October 2017
ER -