Maziyah Mat Noh - Academia.edu (original) (raw)
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University of Ottawa | Université d'Ottawa
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Papers by Maziyah Mat Noh
This paper presents the formulation of nonlinear robust control that integrates backstepping and ... more This paper presents the formulation of nonlinear robust control that integrates backstepping and integral sliding mode control strategies for controlling liquid level in a two-tank system. In the classical sliding mode control, a discontinuous control law is synthesized to drive the system state to the sliding surface in a finite time and maintain it thereafter on that surface. The technique is naturally suited for the tracking of controlled systems, such as liquid level control inside two-tank system. However, the effects of the discontinuous nature of the control, known as the chattering phenomenon is harmful because it leads to low control accuracy and high wear and tear of moving mechanical parts. The hybrid control preserves the main advantages as it is reduced the chattering effect and provide higher accuracy in realisation of the control system. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance better than the performance backstepping sliding mode control (BSMC) and integral sliding mode (ISMC) with ISMC shows slowest respond. Undesired chattering in sliding surface has been reduced.
The design of a robust controller is a challenging task due to nonlinear behaviour of the glider ... more The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort.
] This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs).... more ] This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness.
This paper presents the formulation of nonlinear robust control that integrates backstepping and ... more This paper presents the formulation of nonlinear robust control that integrates backstepping and integral sliding mode control strategies for controlling liquid level in a two-tank system. In the classical sliding mode control, a discontinuous control law is synthesized to drive the system state to the sliding surface in a finite time and maintain it thereafter on that surface. The technique is naturally suited for the tracking of controlled systems, such as liquid level control inside two-tank system. However, the effects of the discontinuous nature of the control, known as the chattering phenomenon is harmful because it leads to low control accuracy and high wear and tear of moving mechanical parts. The hybrid control preserves the main advantages as it is reduced the chattering effect and provide higher accuracy in realisation of the control system. The performance of the proposed controller is simulated using MATLAB/Simulink software which tested for nominal system, system with external disturbance and system with parameter variation. The performance of proposed controller is compared against the performance of backstepping sliding mode control and integral sliding mode control in terms of chattering reduction and steady state error. The simulation results have shown that the proposed controller has improved the output tracking performance better than the performance backstepping sliding mode control (BSMC) and integral sliding mode (ISMC) with ISMC shows slowest respond. Undesired chattering in sliding surface has been reduced.
The design of a robust controller is a challenging task due to nonlinear behaviour of the glider ... more The design of a robust controller is a challenging task due to nonlinear behaviour of the glider and surround environment. This paper presents design and simulation of nonlinear robust integral super-twisting sliding mode control for controlling the longitudinal plane of an autonomous underwater glider (AUG). The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations for pitching angle and net buoyancy of the longitudinal plane of an AUG. The algorithm is designed based on integral sliding mode control and super-twisting sliding mode control. The performance of the proposed controller is compared to original integral sliding mode and original super-twisting algorithm. The simulation results have shown that the proposed controller demonstrates satisfactory performance and also reduces the chattering effect and control effort.
] This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs).... more ] This paper presents a review of sliding mode control for autonomous underwater vehicles (AUVs). The AUVs are used under water operating in the presence of uncertainties (due to hydrodynamics coefficients) and external disturbances (due to water currents, waves, etc.). Sliding mode controller is one of the nonlinear robust controllers which is robust towards uncertainties, parameter variations and external disturbances. The evolution of sliding mode control in motion control studies of autonomous underwater vehicles is summarized throughout for the last three decades. The performance of the controller is examined based on the chattering reduction, accuracy (steady state error reduction), and robustness against perturbation. The review on sliding mode control for AUVs provides insights for readers to design new techniques and algorithms, to enhance the existing family of sliding mode control strategies into a new one or to merge and re-supervise the control techniques with other control strategies, in which, the aim is to obtain good controller design for AUVs in terms of great performance, stability and robustness.