Modified adaptive complementary sliding mode control for the longitudinal motion stabilization of the fully-submerged hydrofoil craft
| Autor: | Changkui Xu, Lanyong Zhang, Sheng Liu, Hongmin Niu |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov stability
Disturbance (geology) Computer science lcsh:Ocean engineering lcsh:Naval architecture. Shipbuilding. Marine engineering 020101 civil engineering Ocean Engineering 02 engineering and technology Motion control 01 natural sciences Sliding mode control 010305 fluids & plasmas 0201 civil engineering Nonlinear system lcsh:VM1-989 Exponential stability Control and Systems Engineering Control theory 0103 physical sciences Convergence (routing) lcsh:TC1501-1800 Actuator |
| Zdroj: | International Journal of Naval Architecture and Ocean Engineering, Vol 11, Iss 1, Pp 584-596 (2019) |
| ISSN: | 2092-6782 |
| DOI: | 10.1016/j.ijnaoe.2018.10.003 |
| Popis: | This paper presents a Modified Adaptive Complementary Sliding Mode Control (MACSMC) system for the longitudinal motion control of the Fully-Submerged Hydrofoil Craft (FSHC) in the presence of time varying disturbance and uncertain perturbations. The nonlinear disturbance observer is designed with less conservatism that only boundedness of the derivative of the disturbance is required. Then, a complementary sliding mode control system combined with adaptive law is designed to reduce the bound of stabilization error with fast convergence. In particularly, the modified complementary sliding mode surface which contains the estimation of the disturbance can reduce the switching gain and retain the normal performance of the system. Moreover, a hyperbolic tangent function contained in the control law is utilized to attenuate the chattering of the actuator. The global asymptotic stability of the closed-loop system is demonstrated utilizing the Lyapunov stability theory. Ultimately, the simulation results show the effectiveness of the proposed approach. Keywords: Disturbance observer, Fully-submerged hydrofoil craft, Longitudinal motion stabilization, Modified adaptive complementary sliding mode control |
| Databáze: | OpenAIRE |
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