Title

Sliding mode control of multi-input, multi-output nonlinear systems

Date of Completion

January 1991

Keywords

Engineering, Mechanical

Degree

Ph.D.

Abstract

A general nonlinear system control problem with the concept of Variable Structure Systems (VSS) is studied. A novel methodology, "Pseudo Sliding Mode Control", is proposed for eliminating the inherent control chatter. The general treatment of the constrained control is discussed using a geometric approach. A mathematical model of the UConn-ROV (Remotely Operated Vehicle) is developed. An application of VSS to the ROV is done by computer simulation. ^