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Volume 16 Issue 1
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2008  >  16(1): 018-20
CHEN Ye, WANG De-shi. Passivity-Based Sliding Mode Control on Torpedo Nonlinear Attitude System[J]. Journal of Unmanned Undersea Systems, 2008, 16(1): 018-20. doi: 10.11993/j.issn.1673-1948.2008.01.005
Citation: CHEN Ye, WANG De-shi. Passivity-Based Sliding Mode Control on Torpedo Nonlinear Attitude System[J]. Journal of Unmanned Undersea Systems, 2008, 16(1): 018-20. doi: 10.11993/j.issn.1673-1948.2008.01.005
shu

Passivity-Based Sliding Mode Control on Torpedo Nonlinear Attitude System

doi: 10.11993/j.issn.1673-1948.2008.01.005
  • 1.

    Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China

  • 2.

    Department of Aeronautical Armament Fire Control,Naval Aeronautical Engineering Institute Qingdao Branch, Shandong Qingdao 266041, China

  • Received Date: 2007-11-07
  • Rev Recd Date: 2007-11-26
  • Publish Date: 2008-02-29
    Abstract
  • A general Hamilton canonical form(GHCF) of torpedo nonlinear attitude system is established, and a control law is designed through combining passivity and sliding mode techniques, choosing the manifold of sliding mode separately. The whole nonlinear characteristics of the system are used in this method. The reachability of sliding mode is analyzed with passivity theory, and the stability of sliding mode enables to enhance the system performance. In simulation, the sliding mode control of torpedo nonlinear attitude system is realized, and the attitude angle is controlled well.

     

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