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Robust Control of a Surface Vehicle With Disturbances

[+] Author Affiliations
DongBin Lee, C. Nataraj

Villanova University, Villanova, PA

Timothy C. Burg

Clemson University, Clemson, SC

Paper No. DSCC2011-6201, pp. 699-704; 6 pages
doi:10.1115/DSCC2011-6201
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

In this paper, a new approach for robust control of a surface vehicle is presented. This approach uses a sliding mode controller with an additional robust term. A nonlinear dynamic model which is complicated by environmental disturbances is presented for a surface vehicle, dividing the model into the rigid-body portion, and a portion containing disturbance terms that the robust controller will reject. Following that, a robust approach based on sliding mode controller is developed for tracking desired trajectories in finite time while compensating for disturbances such as hydrodynamics, wind, wave, and currents based on Lyapunov-type stability analysis. Finally numerical simulation results are shown to demonstrate the validity of the proposed controllers.

Copyright © 2011 by ASME

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