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Sliding mode controller for signal input multiple state submarine system.

Author(s)
Dur Muhammad Pathan Department of Mechanical Engineering, Mehran University of Engineering & Technology, Jamshoro, Pakistan
Mukhtiar Ali Unar Department of Electronic, Telecommunication & Biomedical Engineering, Mehran University of Engineering & Technology, Jamshoro, Pakistan
Abdul Karim Baloch Department of Electronic, Telecommunication & Biomedical Engineering, Mehran University of Engineering & Technology, Jamshoro, Pakistan
Abstract
Sliding mode control design has become a popular choice for controlling non-linear dynamical systems. This paper, explores the dynamics of a submarine and represents the same in state space form. It also investigates the potential of sliding mode controller for a single input multiple state system of a submarine. Mathematical derivation of the controller is presented and it is proved that the Sliding mode controller is robust to changes in operating conditions. The problem of chattering in sliding mode controller design is discussed and remedy of this problem is suggested. Simulation studies are carried out which demonstrate that the sliding mode controller can efficiently be used as a heading controller for the submarine under investigation.
Publication Details
Page(s) 279-288
DOI DOI not available
Published Journal: Mehran University Research Journal of Engineering and Technology, Volume: 23, Issue: 4, Year: 2004

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