جستجوی مقالات مرتبط با کلیدواژه "high order sliding mode" در نشریات گروه "برق"

Control of the router's underwater remotely Operated Vehicles (ROVs) is challenging due to its highly nonlinear nature, strong coupling among variables, and unknown environment of the underwater in terms of underwater currents.The classic sliding mode controller is a popular control method in nonlinear dynamic tracking systems. However, one of the problems with this control method is chattering in its control signal. Therefore, in this study, to reduce the chattering of the control signal applied to the trusters, a Model-Free High Order- sliding mode control is proposed. in the end, the performance of the proposed controller simulated on an underwater robot. In addition, the outcomes compare with the performance of the PID controller and the traditional sliding mode controller, which results show the superiority of the proposed controller.

In this paper، a nonlinear and robust guidance system against target maneuvers has been designed. For this purpose، first a new high order sliding mode algorithm is proposed. The designed guidance law with this algorithm generates a smooth acceleration command that guarantees collision with target. In this algorithm، unlike previous high order sliding mode theories، the stability of close loop system in the presence of uncertainty is guaranteed، therefore the observer is not required for estimation of target maneuvers in the proposed guidance law. For designing two point guidance law using this algorithm، a sliding variable has been introduced using relative lateral velocity. Designed guidance law generates acceleration commands that guarantee convergence of sliding variable. Simulation results show the better performance of proposed guidance law in comparison with other guidance laws.