Maziyah, Mat Noh and M. R., Arshad and Rosmiwati, Mohd Mokhtar (2015) The Evaluation Of Controller Tracking Performance Based On Taylor’s Series Expansion Model. Jurnal Teknologi (Sciences and Engineering), 74 (9). pp. 175-181. ISSN 0127-9696 (print); 2180-3722 (online). (Published)
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Abstract
This paper presents the controller tracking performance of Underwater Glider. The controllers are designed based on linearised model. The equations of motion are restricted to longitudinal plane. The controllers are designed and tested for the glide path moving from 45° to 30° downward and upward. The model is linearised using Taylor’s series expansion linearisation method. The controller developed here is Sliding Mode Control (SMC), and Linear Quadratic Regulator (LQR). The performance of both controllers are compared and analysed. The simulations show SMC produce better performance with about over 30% faster than LQR based its convergence time.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Underwater glider, linearisation, internal mass, longitudinal plane, dynamical model, Taylor’s series expansion, LQR; SMC |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Mrs. Neng Sury Sulaiman |
| Date Deposited: | 21 Mar 2016 06:26 |
| Last Modified: | 21 Jun 2016 03:24 |
| URI: | http://umpir.ump.edu.my/id/eprint/10108 |
| Download Statistic: | View Download Statistics |
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