1. Adaptive Non-singular Terminal Sliding-mode Pitch Control for an Underwater Vehicle
- Author
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Xin Zhang, Yu Ge, Manguo Liu, Ying Pan, and Kun Xiao
- Subjects
Lyapunov function ,Non singular ,Computer science ,020208 electrical & electronic engineering ,Terminal sliding mode ,02 engineering and technology ,01 natural sciences ,010305 fluids & plasmas ,Nonlinear system ,symbols.namesake ,Underwater vehicle ,Pitch control ,Control theory ,Robustness (computer science) ,Bounded function ,0103 physical sciences ,0202 electrical engineering, electronic engineering, information engineering ,symbols - Abstract
In this paper, we propose an adaptive pitch control for an underwater vehicle. In order to address time-varying uncertainty, i.e., nonlinear dynamics, unknown parameters and disturbance, we proposed a new controller based on terminal sliding-mode control. Rigorous proof of finite-time stability is also presented via Lyapunov analysis, which means that all signals and following errors of closed-loop system is bounded. To verify the effectiveness and robustness of our algorithm, simulations are conducted and illustrated in detail.
- Published
- 2018
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