Abstract
This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.
Keywords
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Acknowledgements
This research is supported by Universiti Malaysia Pahang (UMP) research grant Vot: RDU1703134, Development of Controller for an Underactuated Autonomous Underwater Vehicle (AUV).
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Mat Noh, M., Arshad, M.R., Mohd-Mokhtar, R., Md Zain, Z., Khan, Q., Abdul Kadir, H. (2019). Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm. In: Md Zain, Z., et al. Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018 . Lecture Notes in Electrical Engineering, vol 538. Springer, Singapore. https://doi.org/10.1007/978-981-13-3708-6_8
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DOI: https://doi.org/10.1007/978-981-13-3708-6_8
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