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13 results on '"Bi, Anyuan"'

4. T-S Fuzzy Model-Based Depth Control of Underwater Vehicles

Author

Feng Zheng-ping, Qian Yuan, BI Anyuan, and Liu Weiqi

Subjects
0209 industrial biotechnology, Multidisciplinary, Computer science, Fuzzy model, Control (management), 020101 civil engineering, 02 engineering and technology, Stability (probability), 0201 civil engineering, Computer Science::Robotics, Nonlinear system, 020901 industrial engineering & automation, Control theory, Bounded function, Control system, Full state feedback, Underwater
Abstract

A T-S fuzzy model with two rules is established to exactly describe the nonlinear uncertain heave dynamics of underwater vehicles with bounded heave speed. A single linear-matrix-inequality-based (LMI-based) state feedback controller is then synthesized to guarantee the global stability of the depth control system. Simulation results verify the effectiveness of the proposed approach in comparison with linear-quadratic regulator (LQR) method. Nonlinear disturbance observer is appended to the system when the underwater vehicles are affected by the gravity-buoyancy imbalance. The two-stage control method is effective to stabilize an uncertain system with both parameter uncertainties and external disturbances.

Published
2020
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11. A novel nonsingular terminal sliding mode control combined with global sliding surface for uncertain nonlinear second-order systems.

Author

Liu, Weiqi, Feng, Zhengping, and Bi, Anyuan

Subjects
SLIDING mode control, NONLINEAR systems
Abstract

This paper proposes a novel nonsingular terminal sliding mode control combined with global sliding surface for a class of uncertain nonlinear second-order systems. The suggested control approach is developed based on the Lyapunov theory. The sliding mode reaching the sliding surface in finite time can be guaranteed. Furthermore, chattering phenomenon caused by the switching control action can be eliminated theoretically, and desirable control performance is realized. The simulation and tank test results for heave control of a remotely operated vehicle are presented to verify the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Published
2020
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