Proceedings of the 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)

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

Authors
Yibo Liu, Haiqin Wan, Jiaping Song
Corresponding Author
Yibo Liu
Available Online March 2018.
DOI
https://doi.org/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.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
Part of series
Advances in Engineering Research
Publication Date
March 2018
ISBN
978-94-6252-497-2
ISSN
2352-5401
DOI
https://doi.org/10.2991/iceea-18.2018.32How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - 2018 2nd International Conference on Electrical Engineering and Automation (ICEEA 2018)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/iceea-18.2018.32
DO  - https://doi.org/10.2991/iceea-18.2018.32
ID  - Liu2018/03
ER  -