碩士 / 元智大學 / 電機工程研究所 / 89 / In this research paper, an integral sliding mode control method was successfully applied into the steering and the diving control systems of an autonomous underwater vehicle and also considerations were given to effects of the ocean current and the system disturbance on the vehicle. The sliding mode control integral function described in this paper was mainly used to, by combining the sliding mode control and the root loci together, make the system’s closed-loop poles fully controllable and, by applying root locus technique for pole allocation, allow the system to have satisfactory transient responses. On the other hand, since an integrator was included into the sliding surface, output steady-state errors could be effectively eliminated. Finally, as shown in the computer simulation results on an autonomous underwater vehicle, all the required control targets were accomplished accordingly.
| Identifer | oai:union.ndltd.org:TW/089YZU00442023 |
| Date | January 2001 |
| Creators | Shih-Chia Yu, 游士佳 |
| Contributors | Ying J. Huang, 黃英哲 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 66 |
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