| Related citation: | LvRui,YU Kai-ping,WEI Ying-jie,ZHANG Jia-zhong,WANG Jing-hua.Adaptive robust controller for supercavitating vehicle using guaranteed cost theory[J].Journal of Harbin Institute Of Technology(New Series),2011,18(4):77-81.DOI:10.11916/j.issn.1005-9113.2011.04.016. |
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| Author Name | Affiliation | | LvRui | School of Astronautics,Harbin Institute of Technology,Harbin 150001,China | | YU Kai-ping | School of Astronautics,Harbin Institute of Technology,Harbin 150001,China | | WEI Ying-jie | School of Astronautics,Harbin Institute of Technology,Harbin 150001,China | | ZHANG Jia-zhong | School of Astronautics,Harbin Institute of Technology,Harbin 150001,China | | WANG Jing-hua | School of Astronautics,Harbin Institute of Technology,Harbin 150001,China |
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| Abstract: |
| Regarding to the problems that supercavitating vehicles have special characteristics from traditional underwater vehicles,robust control problem was studied in this paper for the supercavitating vehicles with mismatched uncertainties.The nonlinear dynamic model was improved.For mismatched uncertainties,the robust sliding mode function was proposed based on guaranteed cost theory,and sufficient condition for the existence was given in terms of linear matrix inequality (LMI).Continuous sliding mode controller was designed,with an adaptive technology which was used to estimate the unknown upper bound of mismatched uncertainties.Meanwhile,upper bound of parameter uncertainties was not required.Simulation results demonstrated that the system responds rapidly and has good robust stability.Due to application of guaranteed cost theory,the controlled plant is not only stable but also guarantees an adequate level of performance.Therefore,it provides theoretical references for further study on control problems of supercavitating vehicles. |
| Key words: supercavitating vehicle mismatched uncertainties guaranteed cost control LMI adaptive sliding mode control |
| DOI：10.11916/j.issn.1005-9113.2011.04.016 |
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