ADS Adaptive Backstepping Sliding Mode Depth Controller with Extended Observer
作者单位：Shanghai Branch of China Ship Scientific Research Center China Ship Scientific Research Center Shanghai Oriental Maritime Engineering Technology Co.Ltd.
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造]
基 金：supported by National Science and Technology Major Project(NSTMP)of China under Grant 2011ZX05027-005 National Key R&D Plan under Grant 2016YFC0304103-3
关 键 词：atmospheric diving suit(ADS) depth control extended observer backstepping control sliding mode control
摘 要：To solve the problems of model nonlinearity,disturbance uncertainties and unknown upper bound of disturbances in the process of atmospheric diving suit（ADS） motions in fixed depth,an ADS adaptive backstepping sliding mode controller with extended observer is *** extended observer is used to observe the system disturbance,and tracking error can approach zero by controlling ADS depth through designed backstepping sliding mode *** Lyapunov stability criterion is used in proving the system stability and tracking error convergence when model uncertainties and external disturbance *** to the description and setting up of the designed control model,a series of tracking simulations were carried *** studies show that the proposed controller can well overcome factors such as model uncertainties and external disturbance,and has good robust performance,stability and tracking error convergence.