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A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

Author

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  • Xing Fang
  • Fei Liu

Abstract

A novel full-order terminal sliding-mode controller (FOTSMC) based on the finite-time disturbance observer (FTDO) is proposed for the “JIAOLONG” manned submersible with lumped disturbances. First, a finite-time disturbance observer (FTDO) is developed to estimate the lumped disturbances including the external disturbances and model uncertainties. Second, a full-order terminal sliding-mode surface is designed for the manned submersible, whose sliding-mode motion behaves as full-order dynamics rather than reduced-order dynamics in conventional sliding-mode control systems. Then, a continuous sliding-mode control law is developed to avoid chattering phenomenon, as well as to drive the system outputs to the desired reference trajectory in finite time. Furthermore, the closed-loop system stability analysis is given by Lyapunov theory. Finally, the simulation results demonstrate the satisfactory tracking performance and excellent disturbance rejection capability of the proposed finite-time disturbance observer based full-order terminal sliding-mode control (FTDO-FOTSMC) method.

Suggested Citation

  • Xing Fang & Fei Liu, 2018. "A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-11, September.
    • Handle: RePEc:hin:jnlmpe:1307308
    DOI: 10.1155/2018/1307308
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