The networked underwater vehicle's yaw control system based on sliding mode controller | IEEE Conference Publication | IEEE Xplore

The networked underwater vehicle's yaw control system based on sliding mode controller


Abstract:

The underwater vehicle' yaw control system is a distributed networked control system containing sensors, controller and actuators. Networked control system (NCS) can be d...Show More

Abstract:

The underwater vehicle' yaw control system is a distributed networked control system containing sensors, controller and actuators. Networked control system (NCS) can be disturbed by time delay of data packages and transmission interference. The stability of controller in the system can weaken these disadvantages. This paper investigates sliding mode control (SMC) for the networked underwater vehicle yaw control system. A linear vehicle laterally mathematical equation is first obtained by linearizing the six-degree-freedom motion dynamics of a submarine. And based on the linear equation and sliding mode control theory, the heading controller is designed. The closed-loop system is analytically proved to be stable by Lyapunov stability theory. Using the TrueTime platform, a networked control system under the Ethernet is established, to demonstrate the effectiveness of the proposed controller. The numeric simulations indicate that the presented controller can strengthen stability of NCS.
Date of Conference: 18-20 August 2016
Date Added to IEEE Xplore: 27 October 2016
ISBN Information:
Conference Location: Macau, China

References

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