Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG)

Maziyah, Mat Noh and Mohd Rizal, Arshad and Rosmiwati, Mohd Mokhtar and Zainah, Md. Zain (2018) Integral super twisting sliding mode control (ISTSMC) application in 1DOF internal mass autonomous underwater glider (AUG). In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 305-325. ISBN 9789811087875

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DOI/Official URL: https://doi.org/10.1007/978-981-10-8788-2_28

Abstract

This paper presents the design and implementation of the integral super twisting sliding mode control for the tracking control of a linearized model of longitudinal plane autonomous underwater glider. The performance of the proposed controller is evaluated in terms of chattering reduction in control input for the nominal system as well as the system in the presence of external disturbance. The controller is designed for the gliding path from 45° to 30° downward and upward. The performance of the proposed controller is compared with the quasi sliding mode control (boundary layer), integral sliding control, and super twisting sliding mode control. The simulation results have shown that the proposed controller is able to eliminate the undesired chattering.in control inputs.

Item Type:	Book Chapter
Additional Information:	Index by Scopus
Uncontrolled Keywords:	Autonomous underwater glider (AUG); Super twisting sliding mode control (STSMC); Integral sliding mode control (ISMC)
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering
Depositing User:	Pn. Hazlinda Abd Rahman
Date Deposited:	06 Aug 2018 02:38
Last Modified:	06 Aug 2018 02:38
URI:	http://umpir.ump.edu.my/id/eprint/21754
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