For the course tracking of the Dam Maintenance Submersible in the presence of unknown environment disturbance and hydrodynamic coefficients uncertainty, a robust controller named DSSMC-ESO is proposed. The extended state observer can provide an estimation of total disturbance and feedforward compensation for that. The dynamic surface control is applied to construct the controller to bypass the complicated differential expansion problem that exists in the backstepping method. To further improve the robustness of the controller, the sliding mode term is employed. The course tracking simulations are conducted to show the robustness and effectivity of the designed controller.
Dynamic Surface Sliding Mode Control with an Extended State Observer for Course Tracking of the Dam Maintenance Submersible
Lect. Notes Electrical Eng.
2021-10-30
12 pages
Article/Chapter (Book)
Electronic Resource
English
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