Sliding Mode Nonlinear Observer Design for Underwater Vehicle Control System

被引：1
|
作者：
Deng, Chun Nan [1 ]
Ge, Tong [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Underwater Engn Res Inst, Shanghai 200030, Peoples R China
来源：
MECHATRONICS AND INTELLIGENT MATERIALS III, PTS 1-3 | 2013年 / 706-708卷
关键词：
ROV; Observer; ocean current; umbilical cable;
D O I：
10.4028/www.scientific.net/AMR.706-708.1000
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The ocean current and cable will affect the ROV(remotely operated vehicle) when ROV is working under the sea. Current velocity and umbilical cable disturbing are hard to measure by sensors, which has to be estimated by observer. In order to improve the precision of observer, we present reasonable models for ocean current and umbilical cable disturbance, and design a sliding mode observer which has the same robustness as sliding mode controller. An upper bound of estimation error is derived by using Lyapunov stability criterion. Performance of the observer is verified using numerical simulation.Algorithm is very easy to complie,could meet the engineering needs.
引用
收藏
页码：1000 / 1007
页数：8
相关论文
共 50 条
  • [21] Sliding mode observer and controller design for a hydraulic motion control system
    Batur, C
    Zhang, L
    PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2003, : 1721 - 1726
  • [22] Design of Discrete Time Sliding Mode Observer in Networked Control System
    Yang, Weijun
    Fan, Li
    Luo, Jijun
    2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5, 2010, : 1884 - 1887
  • [23] Chattering-suppression sliding mode control of an autonomous underwater vehicle based on nonlinear disturbance observer and power function reaching law
    Tang, Qirong
    Li, Yinghao
    Guo, Ruiqin
    Jin, Daopeng
    Hong, Yang
    Huang, Hai
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2021, 43 (09) : 2081 - 2093
  • [24] Sliding Mode Observer based Sliding Mode Controller for Interacting Nonlinear System
    Venkatesan, M.
    Ravi, V. R.
    SECOND INTERNATIONAL CONFERENCE ON CURRENT TRENDS IN ENGINEERING AND TECHNOLOGY (ICCTET 2014), 2014, : 1 - 6
  • [25] Design of Sliding Mode Observer for Uncertain Nonlinear Systems
    Jing, He
    Jing, Qiu
    Changfan, Zhang
    Cheng, Luo
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 1720 - +
  • [26] Adaptive Nonsingular Fast Terminal Sliding Mode Tracking Control for an Underwater Vehicle-Manipulator System with Extended State Observer
    Han, Lijun
    Tang, Guoyuan
    Cheng, Maolin
    Huang, Hui
    Xie, De
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2021, 9 (05)
  • [27] Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System
    Wang, Hongwei
    Wu, Shaowen
    Wang, Qianyu
    IEEE Access, 2021, 9 : 40349 - 40359
  • [28] Global Sliding Mode Control for Nonlinear Vehicle Antilock Braking System
    Wang, Hongwei
    Wu, Shaowen
    Wang, Qianyu
    IEEE ACCESS, 2021, 9 : 40349 - 40359
  • [29] NEW ADAPTIVE SLIDING-MODE OBSERVER DESIGN FOR SENSORLESS CONTROL OF PMSM IN ELECTRIC VEHICLE DRIVE SYSTEM
    Xiao, Xiong
    Zhang, Yongjun
    Wang, Jing
    Du, Haiping
    INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, 2016, 9 (01): : 377 - 396
  • [30] Sliding Mode Control of the Penicillin Fermentation System Based on Nonlinear Disturbance Observer
    Zhang Tengfei
    Fang Xing
    Liu Fei
    PROCEEDINGS OF 2018 IEEE 7TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE (DDCLS), 2018, : 714 - 717
12345