A New Type Nonlinear Observer Design for AUV in Shallow Water

摘要：

The proposed observer could estimate AUV’s low frequency motion and environmental disturbance force from the synthetical signals which include the low frequency motion signals, high frequency motion signals and measure noise from the sensors. The nonlinear observer is proved global exponential stability and passive. Passivity theory is used in designing the tuning parameters of the observer. The observer overcomes the essential shortcomings of the tradition Kalman filter which applies the linear theory and gain scheduling techniques. A set of computer simulations which is carried out to test the performance of the proposed observer proves the excellent capability .

关键词： autonomous underwater vehicle shallow water dynamic positioning passivity nonlinear observer

作者: GE Hui

作者单位: School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China, 200240

会议类型: 国际会议

会议名称: 2012 International Conference on Intelligent System Design and Engineering Applications(2012年智能系统设计与工程应用国际会议 ISDEA 2012)

会议地点: 三亚

会议语种:英文

页码: 64-68

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）