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

DOI

10.2991/iccsee.2013.428How to use a DOI?

Keywords

submarine,depth control,nonliniear distlurbance observer,SOS

Abstract

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.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zongda Zhu
AU  - Lifen Wu
PY  - 2013/03
DA  - 2013/03
TI  - Nonlinear Disturbance Observer-enhanced Depth Control for Submarine: A Sum of Squares Technique
BT  - Proceedings of the 2nd International Conference on Computer Science and Electronics Engineering (ICCSEE 2013)
PB  - Atlantis Press
SP  - 1711
EP  - 1713
SN  - 1951-6851
UR  - https://doi.org/10.2991/iccsee.2013.428
DO  - 10.2991/iccsee.2013.428
ID  - Zhu2013/03
ER  -