The evaluation of controller tracking performance based on Taylor’s series expansion model

Maziyah Mat Noh; M. R. Arshad; Rosmiwati Mohd-Mokhtar

The evaluation of controller tracking performance based on Taylor’s series expansion model

Maziyah Mat Noh^*, M. R. Arshad, Rosmiwati Mohd-Mokhtar

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45º to 30º downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.

Original language	English
Pages (from-to)	175-181
Number of pages	7
Journal	Jurnal Teknologi
Volume	74
Issue number	9
Publication status	Published - 27 Jun 2015
Externally published	Yes

Keywords

Dynamical model
Internal mass
Linearisation
Longitudinal plane
LQR
SMC
Taylor’s series expansion
Underwater glider

Cite this

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title = "The evaluation of controller tracking performance based on Taylor{\textquoteright}s series expansion model",

abstract = "This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45º to 30º downward and upward. The model is linearised using Taylor{\textquoteright}s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.",

keywords = "Dynamical model, Internal mass, Linearisation, Longitudinal plane, LQR, SMC, Taylor{\textquoteright}s series expansion, Underwater glider",

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AU - Noh, Maziyah Mat

AU - Arshad, M. R.

AU - Mohd-Mokhtar, Rosmiwati

PY - 2015/6/27

Y1 - 2015/6/27

N2 - This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45º to 30º downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.

AB - This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45º to 30º downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.

KW - Dynamical model

KW - Internal mass

KW - Linearisation

KW - Longitudinal plane

KW - LQR

KW - SMC

KW - Taylor’s series expansion

KW - Underwater glider

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M3 - Article

AN - SCOPUS:84932632956

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VL - 74

SP - 175

EP - 181

JO - Jurnal Teknologi

JF - Jurnal Teknologi

IS - 9

ER -

The evaluation of controller tracking performance based on Taylor’s series expansion model

Abstract

Keywords

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