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
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)