Changed extended state observer based position control for autonomous underwater vehicle

被引：0
|
作者：
Song, Wanping [1 ]
Zheng, Chen [2 ]
Chen, Zengqiang [1 ,3 ]
Sun, Mingwei [1 ]
Sun, Qinglin [1 ]
机构：
[1] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
[2] Beijing Inst Astronaut Syst Engn, Beijing 100076, Peoples R China
[3] Key Lab Intelligent Robot Tianjin, Tianjin 300350, Peoples R China
来源：
2023 IEEE 12TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE, DDCLS | 2023年
基金：
中国国家自然科学基金;
关键词：
Autonomous underwater vehicle (AUV); Position control; Compensation function observer (CFO); Extended state observer (ESO); TRACKING CONTROL; AUV;
D O I：
10.1109/DDCLS58216.2023.10166296
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Extended state observer (ESO) has been used to estimate the unknown nonlinear function of the system using input and output data. Recently, a new observer, the compensation function observer (CFO), has a significant improvement over ESO in estimating accuracy. This paper refers to the theory of CFO of fully using the available information and the innovation of the new definition of disturbance, designs a new observer, and verifies the availability of the new observer on the depth control simulation of the autonomous underwater vehicle (AUV). The simulation results demonstrate that the new observer is capable of estimating the unknown nonlinear function more quickly and accurately.
引用
收藏
页码：1086 / 1091
页数：6
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