Title :
Adaptive controller—Based on Nonlinear Disturbance Observer using for UUV automatic recovery system
Author :
Zhang, Wei ; Wang, Conglin ; Bian, Xinqian ; Yan, Zheping
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
UUV(Unmanned Underwater Vehicle) recovery system is a very complex multivariable system with strong coupling, strong nonlinear, time-varying and unknown interference. This dissertation is aimed to design an adaptive controller based on Nonlinear Disturbance Observer (DOB) under the unknown environment of near-wall during the coming-down of UUV recovery process. As a result, DOB can not only compensate the unknown inferences, but also eliminate the high frequency noise from sonar by the low pass filter in DOB. This paper solves the problem of UUV automatic recovery system by flat-carrying underwater.
Keywords :
adaptive control; autonomous underwater vehicles; control system synthesis; large-scale systems; low-pass filters; multivariable control systems; nonlinear control systems; observers; sonar; UUV automatic recovery system; adaptive controller design; complex multivariable system; flat-carrying underwater; low pass filter; nonlinear disturbance observer; sonar; unmanned underwater vehicle recovery system; Adaptive control; Equations; Hydrodynamics; Mathematical model; Noise; Observers; Vectors; Nonlinear Disturbance Observer (DOB); UUV (Unmanned Underwater Vehicle); near-wall;
Conference_Titel :
OCEANS 2011
Print_ISBN :
978-1-4577-1427-6
