Open AccessVariable Structure Control of a Catastrophic Course in a High-Speed Underwater Vehicle Launched out of the Water
Author(s) -
Min Xiao
Publication year - 2013
Publication title -
advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1155/2013/398707
Subject(s) - control theory (sociology) , underwater , robustness (evolution) , nonlinear system , course (navigation) , control system , engineering , controller (irrigation) , variable structure control , control engineering , computer science , sliding mode control , control (management) , aerospace engineering , physics , artificial intelligence , agronomy , biochemistry , oceanography , chemistry , electrical engineering , quantum mechanics , biology , gene , geology
A variable structure controller is designed for a high-speed underwater vehicle on a catastrophic course using a mathematical model. This sudden change at the moment when a high-speed underwater vehicle launches out of the water seriously affects the stability and the control accuracy of the high-speed underwater vehicle. The nonlinear system is linearised via input-output feedback linearisation using differential geometry theory. The attitude tracking controller is designed for a closed loop using the exponentially approaching rule of variable structure theory. The simulation results show that the control system can be applied to a catastrophic course in a high-speed underwater vehicle launched underwater and out of the water. The results also show great robustness against all admissible uncertainties for system parameter perturbation.
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom