State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement  

作　　者：Huan-Yin Zhou Kai-Zhou Liu Xi-Sheng Feng 

机构地区：[1]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, PRC [2]School of Electric, East China Institute of Technology, Fuzhou 344000, PRC [3]Graduate School of the Chinese Academy of Sciences, Beijing 100039, RRC

出　　处：《International Journal of Automation and computing》2011年第2期262-268,共7页国际自动化与计算杂志（英文版）

基　　金：supported by National Basic Research Program of China (973 Program) (No. 6138101004-3);Key Project of Innovation Knowledge of Chinese Academy of Sciences (No. YYYJ-0917);Innovation Knowledge of Chinese Academy of Sciences (No.O7A6210601)

摘　　要：This paper presents a new method to eliminate the chattering of state feedback sliding mode control （SMC） law for the mobile control of an autonomous underwater vehicle （AUV） which is nonlinear and suffers from unknown disturbances system. SMC is a 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 presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.This paper presents a new method to eliminate the chattering of state feedback sliding mode control （SMC） law for the mobile control of an autonomous underwater vehicle （AUV） which is nonlinear and suffers from unknown disturbances system. SMC is a 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 presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.

关 键 词：Autonomous underwater vehicle （AUV） state feedback sliding mode control （SMC） switching manifold Hurwitz matrix Matlab platform Lyapunov function. 

分 类 号：TP202.1[自动化与计算机技术—检测技术与自动化装置] TP242.3[自动化与计算机技术—控制科学与工程]