AUV control systems of nonlinear extended state observer design

Abstract

Autonomous underwater vehicle (AUV) is a nonlinear system with characteristics of strong coupling, parameter perturbations, and non-modeling disturbance. In this paper, a nonlinear observer is designed based on extended state observer (ESO) principle for the problem of AUV mathematical model parameter perturbations caused by hydrodynamic effect, and the impact of outside disturbance by ocean currents, etc. The observer has strong ability of anti-interference, it can estimate external disturbance on systems and attribute uncertain disturbance in the system model and external disturbance to the disturbance of total system, at the same time make the real-time estimation and effective compensation to the system. The result of simulation shows that the nonlinear observer designed by this method can estimate and compensate the interference and unknown uncertainties on AUV. It has good anti-disturbance performance, and can effectively estimate the appropriate state for observer design.