Simplex sliding mode control for autonomous six-DOF vehicles with mono-directional actuators: robustness, stability, and implementation issues

Alessandro Pisano;Elio Usai
2019

Abstract

The position and attitude control of a six-degree-of-freedom vehicle is dealt with in this paper. The actuation system is assumed to consist of a set of mono-directional devices suitably located and directed. The model of the system is characterized by a large amount of uncertainties, disturbances and measurement errors. The state is assumed fully available and the navigation problems generating smooth references for the state trajectories are supposed already solved. A new attitude guidance algorithm has been developed to enhance robustness with respect to a class of nonsmooth measurement errors. The use of the simplex-based sliding mode methodology reveals to be simultaneously suitable for the design of the actuation system (position and orientation of the actuators) and the implementation of the control strategy. The chattering phenomenon is strongly attenuated by the introduction of integrators in the input channel and, consequently to this choice, a suitable mechanism to avoid the unbounded growth of the individual thrust of the actuators is designed, while at the same time, achieving a direct control of power losses. The performances of the proposed control scheme are demonstrated by simulation by using mathematical models available in the literature.
2018
Inglese
29
3, Special Issue
529
549
21
https://onlinelibrary.wiley.com/doi/full/10.1002/rnc.4111
Esperti anonimi
internazionale
scientifica
AUV control; AUV guidance; mono-directional actuators; multi-input systems; quaternion-feedback; simplex sliding mode control
no
Bartolini, Giorgio; Pisano, Alessandro; Punta, Elisabetta; Usai, Elio
1.1 Articolo in rivista
info:eu-repo/semantics/article
1 Contributo su Rivista::1.1 Articolo in rivista
262
4
reserved
File in questo prodotto:
File Dimensione Formato  
Bartolini_et_al-2019-International_Journal_of_Robust_and_Nonlinear_Control.pdf

Solo gestori archivio

Tipologia: versione editoriale
Dimensione 2.07 MB
Formato Adobe PDF
2.07 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Questionario e social

Condividi su:
Impostazioni cookie