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Title: Nonlinear robust integral sliding super-twisting sliding mode control application in autonomous underwater glider
Authors: Mat-Noh, Maziyah
Arshad, M.R.
Mohd-Mokhtar, Rosmiwati
Khan, Qudrat
Zain, Zainah Md
Kadir, Herdawati Abdul
Keywords: Autonomous underwater glider (AUG);Integral sliding mode control;Super-twisting sliding mode control;Chattering reduction
Issue Date: Jul-2019
Publisher: NISCAIR-CSIR, India
Abstract: The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort.
Page(s): 1016-1027
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.48(07) [July 2019]

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