Sliding Mode Control under Wave Disturbances for an AUV Using Nonlinear Observer Method

DOI

10.2991/iceea-18.2018.32How to use a DOI?

Keywords

AUV; sliding mode controller; nonlinear observer

Abstract

This paper mainly presents that the influence from high-frequency wave disturbances to the motion of the AUV when it operates in shallow water. To solve the issue above, a nonlinear observer is proposed to derive the disturbance information of wave by estimating the shallow water wave’s velocities and AUV’s relative velocities from position and attitude measurement. With the observer estimates, the position errors in X, Y, Z directions are obtained by the velocity errors in surge, sway and heave. Meanwhile, a sliding mode controller is designed to make AUV keep stability while moving in the three dimensional space. Simulation results demonstrated that the proposed method is effective to eliminate wave disturbance and performs well.

Copyright

© 2018, 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/).

Download article (PDF)

TY  - CONF
AU  - Yibo Liu
AU  - Haiqin Wan
AU  - Jiaping Song
PY  - 2018/03
DA  - 2018/03
TI  - Sliding Mode Control under Wave Disturbances for an AUV Using Nonlinear Observer Method
BT  - Proceedings of the 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
PB  - Atlantis Press
SP  - 147
EP  - 151
SN  - 2352-5401
UR  - https://doi.org/10.2991/iceea-18.2018.32
DO  - 10.2991/iceea-18.2018.32
ID  - Liu2018/03
ER  -