A combined first-/second-order sliding-mode technique in the control of a jet-propelled vehicle
作者： G. Bartolini , N. Orani , A. Pisano , E. Punta , E. Usai
DOI: 10.1002/RNC.1224
关键词:
摘要: This note concerns the design and practical implementation of a position/attitude sliding-mode controller for surface vessel prototype. The prototype is equipped with special, recently patented (Italian Patent, 2005), propulsion system based on hydro-jets adjustable output section. control combination between three instances second-order velocity observer (Automatica 1998; 34:379–384) simplex-based (Int. J. Robust Nonlinear Control 1997; 7(4):321–335). We first describe structure working principle Then, we detail derivation motion observer/controller. Finally, discuss major issues show some experimental results. Copyright © 2007 John Wiley & Sons, Ltd.
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