Abstract
During the underwater directional operation of the atmospheric diving suit (ADS), the ADS system encounters problems caused by external disturbances, parameter uncertainties and time-varying terms. To solve these problems, an ADS course controller is proposed based on adaptive sliding mode control with extended state observer (ESO). The ESO can effectively estimate the disturbances in order to realize compensation, while the adaptive sliding mode controller has good robustness and enables further compensation. The designing process of the ADS course controller is described in detail in this paper. The system stability and convergence are proved using the Lyapunov stability criterion and are testified through simulation experiments. Simulation results show that the proposed controller has good robustness and achieves satisfying performance in ADS course control.
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