ABSTRACT In this paper, we present a modified backstepping sliding mode control to deal with Euler–Lagrange systems. The controller is applied in an underwater vehicle in order to show the… Click to show full abstract
ABSTRACT In this paper, we present a modified backstepping sliding mode control to deal with Euler–Lagrange systems. The controller is applied in an underwater vehicle in order to show the effectiveness of the approach proposed. Instantaneous power data provided by the propulsion system are used to tune the controller in order to guarantee robust performance and energy saving. Thanks to the combination of an internal Proportional Integral and Derivative (PID) controller, it is possible implement high gains to deal with the influence of disturbances and uncertainties. A comparative study among this backstepping sliding mode controller and standard sliding mode controls is presented.
Journal Title: International Journal of Systems Science
Year Published: 2018
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