Decentralized Adaptive Variable Structure Control for Banktoturn Torpedo

doi:10.3969/j.issn.1000-1093.2013.11.020

Abstract

Abstract: As with strong fluid dynamic and kinematic coupling among pitch, yaw, and roll channels of banktoturn (BTT) torpedo, the control system can be described as an interconnected large scale system with unmatched uncertainties. A decentralized adaptive sliding mode control scheme is proposed. Considering the coupling among the subsystems, a coordination loop is designed to counteract their partial influence, and a partial model following control is proposed for the model with unmatched uncertainties. A switching function is designed by left eigenvector for each subsystem, and the corresponding partial model following adaptive variable structure control law is presented. The global asymptotic stability of the system is proved by Lyapunov stability theorem. The simulation results show that the control system has perfect tracking capability and satisfies the requirements of banktoturn torpedo.

Key words: control science and technology, torpedo, banktoturn, decentralized control, adaptive control, variable structure control

CLC Number:

TJ630.3+3

ZHANG Yi-chao, ZHOU Xu-chang, ZHOU Hao. Decentralized Adaptive Variable Structure Control for Banktoturn Torpedo[J]. Acta Armamentarii, 2013, 34(11): 1469-1473.

References

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