Extended State Observer-based Backstepping Sliding Mode Controller for DMS Heading Control

For realizing the robust heading control of the Dam Maintenance Submersible (DMS) with parameter uncertainty and external disturbance, the controller (liSMC-ESO) is proposed based on the Extended State Observer (ISO) and backstepping sliding mode control algorithm. The ESO is applied to estimate the total disturbance and a new sliding mode control method with the backstepping technique is adopted to compute the control output. The stability and convergence of the whole system are proved by the Lyapunov stability theory and verified by simulation experiments. Simulation results show that the BSMC-ESO has high tracking performance and strong robustness against parameter uncertainty and external disturbance.