Research on depth control based on output disturbance observer for UUVs maneuvering near the surface

Frequent changes of depth caused by the ocean wave generate lots of problems in the motion control of Unmanned Underwater Vehicles (UUVs) when operated near the surface, such as wear and tear of the motors, consumption of energy and so on. In order to solve these problems, this paper have tried to e...

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Bibliographic Details
Main Authors: Zhang Hong-han, Wu Di, Li Cong-cong, Yan Zhe-ping
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Elevators
Mathematical model
near surface
Observers
Ocean waves
Output disturbance observer
Sea surface
Surface waves
UUV
Wave disturbance
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Summary:Frequent changes of depth caused by the ocean wave generate lots of problems in the motion control of Unmanned Underwater Vehicles (UUVs) when operated near the surface, such as wear and tear of the motors, consumption of energy and so on. In order to solve these problems, this paper have tried to eliminate the disturbance of depth signal through estimating it according to nonlinear output disturbance observer based on the model of ocean wave. Then the stability of the observer was proved by Lyapunov theory. At last, the observer was implemented in the simulation of the depth control system and the results show the effectiveness and practical significance of the method.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2012.6285751