Title: Sliding mode-multimodel stabilising control using single and several sliding surfaces: simulation on an autonomous underwater vehicle

Authors: Ahmed Rhif

Addresses: LSA – Laboratoire des Systèmes Avancés, Ecole Polytechnique de Tunisie, BP 743, 2078 La Marsa, Tunisia

Abstract: This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt a multimodel approach to change the commutation of the sliding mode control (SMC) into fusion using a first order then a high order sliding mode control with single sliding surface and, then, with several sliding surfaces. The stability conditions invoke the existence of two Lyapunov-type functions, the first associated with the passage to the sliding set in finite time, and the second with convergence to the desired state. The approaches presented in this work are simulated on the immersion control of a submarine mobile which presents a problem for the actuators because of the high level of system nonlinearity and because of the external disturbances. Simulation results show that this control strategy can attain excellent performances with no chattering problem and low control level.

Keywords: sliding mode control; SMC; multimodel control; chattering; Lyapunov functions; stabilisation; sliding surfaces; simulation; autonomous underwater vehicles; UAVs; immersion control; nonlinear systems.

DOI: 10.1504/IJMIC.2014.064288

International Journal of Modelling, Identification and Control, 2014 Vol.22 No.2, pp.126 - 138

Available online: 14 Aug 2014 *

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