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The evaluation of controller tracking performance based on Taylor’s series expansion model
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نویسنده
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noh m.m. ,arshad m.r. ,mohd-mokhtar r.
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منبع
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jurnal teknologi - 2015 - دوره : 74 - شماره : 9 - صفحه:175 -181
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چکیده
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This paper presents the controller tracking performance of underwater glider. the controllers are designed based on linearised model. the equations of motion are restricted to longitudinal plane. the controllers are designed and tested for the glide path moving from 45º to 30º downward and upward. the model is linearised using taylor’s series expansion linearisation method. the controller developed here is sliding mode control (smc),and linear quadratic regulator (lqr). the performance of both controllers are compared and analysed. the simulations show smc produce better performance with about over 30% faster than lqr based its convergence time. © 2015 penerbit utm press. all rights reserved.
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کلیدواژه
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Dynamical model; Internal mass; Linearisation; Longitudinal plane; LQR; SMC; Taylor’s series expansion; Underwater glider
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آدرس
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underwater,control and robotics group (ucrg),school of electrical and electronics engineering,engineering campus,universiti sains malaysia (usm),nibong tebal,pulau pinang,malaysia,robotics and unmanned research group (rus),instrumentation and control engineering (ice) cluster,universiti malaysia pahang,pekan, Malaysia, underwater,control and robotics group (ucrg),school of electrical and electronics engineering,engineering campus,universiti sains malaysia (usm),nibong tebal, Malaysia, underwater,control and robotics group (ucrg),school of electrical and electronics engineering,engineering campus,universiti sains malaysia (usm),nibong tebal, Malaysia
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Authors
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