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Published in:
Synchronized Control of Mechanical Systems: A Tutorial Read chapter Read first chapter

2014 | OriginalPaper | Chapter

7. A High Order PID-Sliding Mode Control: Simulation on a Torpedo

Authors : Ahmed Rhif, Zohra Kardous, Naceur Ben Hadj Braiek

Published in: Applied Methods and Techniques for Mechatronic Systems

Publisher: Springer Berlin Heidelberg

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Abstract

Position and speed control of the torpedo present a real problem for the actuators because of the high level of system nonlinearity and because of the external disturbances. The nonlinear systems control is based on several different approaches, which include the sliding mode control. This chapter deals with the basic concepts, mathematics, and design aspects of a control for nonlinear systems that make the chattering effect lower. As solution to this problem we will adopt as a starting point the high order sliding mode approaches and then the PID-sliding surface. Simulation results show that this control strategy can attain excellent control performance with no chattering problem.

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previous chapter Performance Comparison Between NCTF and PV Techniques for the Control of Linear Motion Servo System
next chapter Sliding Mode Control with Self-Turning Law for Uncertain Nonlinear Systems with Time-Delay and External Disturbances
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Metadata
Title
A High Order PID-Sliding Mode Control: Simulation on a Torpedo
Authors
Ahmed Rhif
Zohra Kardous
Naceur Ben Hadj Braiek
Copyright Year
2014
Publisher
Springer Berlin Heidelberg
Book
Applied Methods and Techniques for Mechatronic Systems

Print ISBN: 978-3-642-36384-9

Electronic ISBN: 978-3-642-36385-6

Copyright Year: 2014

DOI
https://doi.org/10.1007/978-3-642-36385-6_7