Abstract

AbstractDisturbance rejection control of underwater UAV is a key technology. First of all, In this paper, the model of underwater UAV will be established, and the closed-loop control system will be constructed according to the virtual control quantity. Then, sliding mode controllers and extended state observer are designed to realize the attitude and position control. Finally, the simulation is performed to show the robustness of UAV. It can be proved that under the influence of inhomogeneous media, UAV can still have good robustness and compensate for interference.KeywordsUnderwater UAVSliding mode controlExtended state observer

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