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- W2467657263 abstract "This paper presents one new method to eliminate the chattering of state feedback SMC (Sliding Mode Control) law for the mobile control of AUV (Autonomous Underwater Vehicle) which is one nonlinear and suffers from unknown disturbances system. SMC is one well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by preset one Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile the best switching surface is achieved by eigenvalues of the Hurwitz matrix. The state feedback control parameters not only apply to control the states of AUV but also connect with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by MATLAB platform of one AUV model." @default.
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- W2467657263 date "2011-01-01" @default.
- W2467657263 modified "2023-09-23" @default.
- W2467657263 title "State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement" @default.
- W2467657263 hasPublicationYear "2011" @default.
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