Extended State Observer-based Backstepping Sliding Mode Controller for DMS Heading Control

被引：0

作者：

Lan, Ying ^{[1
]}

Hu, Zhen ^{[1
]}

Wang, Lei ^{[1
]}

Yang, Shenshen ^{[1
]}

Shen, Dan ^{[1
]}

机构：

[1] China Ship Sci Res Ctr, State Key Lab Deep Sea Manned Vehicles, Wuxi 214082, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年

关键词：

Dam Maintenance Submersible(DMS); Heading Control; Sliding Mode Control; Backstepping; Extended State Observer; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For realizing the robust heading control of the Dam Maintenance Submersible (DMS) with parameter uncertainty and external disturbance, the controller (liSMC-ESO) is proposed based on the Extended State Observer (ISO) and backstepping sliding mode control algorithm. The ESO is applied to estimate the total disturbance and a new sliding mode control method with the backstepping technique is adopted to compute the control output. The stability and convergence of the whole system are proved by the Lyapunov stability theory and verified by simulation experiments. Simulation results show that the BSMC-ESO has high tracking performance and strong robustness against parameter uncertainty and external disturbance.

引用

页码：700 / 705

页数：6

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