Fault tolerant sliding mode control for submarine manoeuvring

被引：0
|
作者：
McGookin, EW [1 ]
机构：
[1] Univ Glasgow, Ctr Syst & Control, Glasgow G12 8LT, Lanark, Scotland
来源：
GUIDANCE AND CONTROL OF UNDERWATER VEHICLES 2003 | 2003年
关键词：
nonlinear control; submarine navigation; fault tolerant control; sliding mode observers;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design of decoupled Sliding Mode controllers for the heading and diving manoeuvres of a nonlinear submarine model. The performance of these control systems is evaluated for high-speed manoeuvres. In addition to the control systems, reconfiguration processes based on Sliding Mode observers are presented in this paper. In this case, the reconfigurablity allows the control systems to compensate for feedback sensor failures. The integrated control and observer systems are evaluated for specific simulated manoeuvres in terms of performance and compensation in the presence of minor and major sensor faults. Copyright (C) 2003 IFAC.
引用
收藏
页码：115 / 120
页数：6
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