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

摘要：

　　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.

关键词： submarine depth control nonliniear distlurbance observer SOS

作者: Zhu Zongda Wu Lifen

作者单位: Department of Automation Xiamen University Xiamen,China

会议类型: 国际会议

会议名称: 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)

会议地点: 杭州

会议语种:英文

页码: 1712-1714

在线出版日期: 2013-03-22（万方平台首次上网日期，不代表论文的发表时间）