Optimal specification of sliding mode control parameters for unmanned surface vessel systems

This paper introduces a method based on nonlinear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an op...

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Bibliographic Details
Main Authors: McNinch, L.C., Ashrafiuon, H., Muske, K.R.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Design methodology
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear systems
Optimal control
Predictive control
Sliding mode control
Time varying systems
Trajectory
Online Access:Request full text
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Summary:This paper introduces a method based on nonlinear predictive control to design optimal surfaces for sliding mode tracking control of underactuated unmanned surface vessel systems. The time-invariant parameters of the sliding mode control first- and second-order surfaces are selected to achieve an optimal performance objective, such as minimum tracking error or minimum energy. The method is demonstrated using simulations based on an experimental USV system.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2009.5160064