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
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