A re-configuring sliding-mode controller with adjustable robustness |
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| Authors: | Ufuk Demirci Feza Kerestecio
lu |
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| Institution: | a Department of Electrical-Electronics Engineering, Turkish Naval Academy, Tuzla, Istanbul, Turkey;b Department of Electrical-Electronics Engineering, Bo
aziçi University, Bebek, Istanbul 80815, Turkey;c Department of Electronics Engineering, Kadir Has University, Cibali, Istanbul, Turkey |
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| Abstract: | In this paper, a controller design method for underwater vehicles is presented, which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance distribution information can be obtained and used to update the corrective gain vector of the sliding-mode controller. This increases the robustness of the controller and, hence, keeps the system performance within acceptable limits. Proposed method is validated with simulations on a submarine model. |
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| Keywords: | Control re-configuration Autonomous systems Sliding-mode control Disturbance rejection Underwater vehicle autopilots |
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