Nonlinear Disturbance Observer-Enhanced Depth Control for Submarine Using Sum of Squares Technique

Zong Da Zhu; Li Fen Wu

doi:10.4028/www.scientific.net/AMM.427-429.668

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 427-429Nonlinear Disturbance Observer-Enhanced Depth...

Nonlinear Disturbance Observer-Enhanced Depth Control for Submarine Using Sum of Squares Technique

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.

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Periodical:

Applied Mechanics and Materials (Volumes 427-429)

Pages:

668-670

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.427-429.668

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Online since:

September 2013

Authors:

Zong Da Zhu*, Li Fen Wu

Keywords:

Nonlinear Disturbance Observer, SOS, Submarine

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* - Corresponding Author

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