Archives and Documentation Center
Digital Archives

Reconfiguring sliding-mode controller for underwater vehicles

Show simple item record

dc.contributor Ph.D. Program in Electrical and Electronic Engineering.
dc.contributor.advisor Özçaldıran, Kadri.
dc.contributor.advisor Kerestecioğlu, Feza,
dc.contributor.author Demirci, Ufuk.
dc.date.accessioned 2023-03-16T10:24:58Z
dc.date.available 2023-03-16T10:24:58Z
dc.date.issued 2004.
dc.identifier.other EE 2004 D45 PhD
dc.identifier.uri http://digitalarchive.boun.edu.tr/handle/123456789/13075
dc.description.abstract The challenging control problem of underwater vehicles is addressed in this study under excessive sea wave disturbances at shallow submerged operation. The systems are becoming more and more complex with the effect of rapid technological developments. These complex systems require fault tolerant control systems in order to accommodate with the uncertainties caused by faults or environmental changes. In this doctoral dissertation, a novel re-configuring controller is proposed based on sliding mode methodology for fault or disturbance tolerant control. Re-configuring control with sliding mode technique annuls the unwanted effects of system uncertainties caused by faults and environmental effects and avoids the chattering by increasing the robustness of the controller when it is necessary. As a result acceptable performance is obtained in case of system uncertainties and the chattering phenomenon is eliminated for the nominal system situation.
dc.format.extent 30cm. +
dc.publisher Thesis (Ph.D.)-Bogazici University. Institute for Graduate Studies in Science and Engineering, 2004.
dc.relation Includes appendices.
dc.relation Includes appendices.
dc.subject.lcsh Oceanographic submersibles.
dc.subject.lcsh Sliding mode control.
dc.subject.lcsh Submarines (Ships)
dc.subject.lcsh Fault location (Engineering)
dc.title Reconfiguring sliding-mode controller for underwater vehicles
dc.format.pages xv, 89 leaves;


Files in this item

This item appears in the following Collection(s)

Show simple item record

Search Digital Archive


Browse

My Account