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

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Applied Methods and Techniques for Mechatronic Systems

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 452))

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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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Authors and Affiliations

  1. Laboratoire des Systèmes Avancés, Ecole Polytechnique de Tunisie, BP 743, 2078,  La Marsa, Tunisia

    Ahmed Rhif, Zohra Kardous & Naceur Ben Hadj Braiek

Authors
  1. Ahmed Rhif
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  2. Zohra Kardous
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  3. Naceur Ben Hadj Braiek
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Corresponding author

Correspondence to Ahmed Rhif .

Editor information

Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, People's Republic of China

    Lei Liu

  2. University of the West of England, Bristol, United Kingdom

    Quanmin Zhu

  3. Wuhan University of Science and Technology, Wuhan, People's Republic of China

    Lei Cheng

  4. Huazhong University of Science and Technology, Wuhan, People's Republic of China

    Yongji Wang

  5. China University of Petroleum, Qingdao, People's Republic of China

    Dongya Zhao

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© 2014 Springer-Verlag Berlin Heidelberg

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Rhif, A., Kardous, Z., Ben Hadj Braiek, N. (2014). A High Order PID-Sliding Mode Control: Simulation on a Torpedo. In: Liu, L., Zhu, Q., Cheng, L., Wang, Y., Zhao, D. (eds) Applied Methods and Techniques for Mechatronic Systems. Lecture Notes in Control and Information Sciences, vol 452. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36385-6_7

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

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36384-9

  • Online ISBN: 978-3-642-36385-6

  • eBook Packages: EngineeringEngineering (R0)

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