A High-Order Sliding Mode Observer: Torpedo Guidance Application
For torpedo guidance systems, this work demonstrates a robust control and estimation approach that avoids chattering, but it is an incremental application of existing methods.
The paper applies sliding mode control and a high-order sliding mode observer to torpedo guidance, achieving excellent control performance with no chattering in simulations.
The guidance of a torpedo represents a hard task because of the smooth nonlinear aspect of this system and because of the extreme external disturbances. The torpedo guidance reposes on the speed and the position control. In fact, the control approach which is very solicited for the electromechanical systems is the sliding mode control (SMC) which proved its effectiveness through the different studies. The SMC is robust versus disturbances and model uncertainties; however, a sharp discontinuous control is needed which induces the chattering phenomenon. The angular velocity measurement is a hard task because of the high level of disturbances. In this way, the sliding mode observer could be a solution for the velocity estimation instead of a sensor. This article deals with torpedo guidance by SMC to reach the desired path in a short time and with high precision quality. Simulation results show that this control strategy and observer can attain excellent control performances with no chattering problem.