Path tracking of a heavy weight torpedo in diving plane using an output feedback sliding mode controller

In this paper, a nonlinear robust output feedback control is proposed for a class of autonomous underwater vehicles. In specific, we consider the nonlinear mathematical model of a heavy-weight torpedo and design a sliding mode controller to achieve robust stabilization of the closed-loop system in t...

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Bibliographic Details
Published in:	2015 12th International Bhurban Conference on Applied Sciences and Technology (IBCAST) pp. 489 - 494
Main Authors:	Adeely, Usman, Zaidiz, Adeel A., Memon, Attaullah Y.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-01-2015
Subjects:	Closed loop systems Control design Mathematical model Observers Output feedback Sliding mode control State feedback
Online Access:	Get full text
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Summary:	In this paper, a nonlinear robust output feedback control is proposed for a class of autonomous underwater vehicles. In specific, we consider the nonlinear mathematical model of a heavy-weight torpedo and design a sliding mode controller to achieve robust stabilization of the closed-loop system in the presence of environmental disturbances and parametric uncertainties. Lyapunovs method is used to present the closed-loop stability analysis of the system. Then, the state feedback sliding mode control law is extended to an output feedback control design using a fourth order observer. It is highlighted that the performance of the state feedback control is recovered arbitrarily fast by the proposed output feedback controller in the presence of parametric uncertainties and environmental disturbances. Finally, the performance of the proposed control design is shown using simulation.
ISSN:	2151-1403 2151-1411
DOI:	10.1109/IBCAST.2015.7058547