会议专题

Nonlinear Disturbance Observer-enhanced Depth Control for Submarine:A Sum of Squares Technique

  The state feedback control using sum of squares technique (SOStools) combined with the nonlinear observer is applied to the depth control of a submarine.The mathematical model of the submarine is rewritten as the linear-like form,then the uncertainty caused by the variation of the hydrodynamic coefficients is treated as the disturbance,which can be estimated online by a nonlinear observer.The method can provide good robustness against the nonlinearity as well as the uncertainty,which is verified by the simulation.

submarine depth control nonliniear distlurbance observer SOS

Zhu Zongda Wu Lifen

Department of Automation Xiamen University Xiamen,China

国际会议

2013 2nd International Conference on Computer Science and Electronics Engineering(ICCSEE2013)(2013年第二届计算机科学与电子工程国际会议)

杭州

英文

1712-1714

2013-03-22(万方平台首次上网日期,不代表论文的发表时间)