articleIEEE Transactions on Industrial ElectronicsApr 17, 2017Closed access

Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities

RCRongxin CuiLCLepeng ChenCYChenguang YangMCMou Chen

Xi'an University of Science and Technology

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Abstract

This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances, and uncertain hydrodynamics of the robot have been successfully solved in the control design. An adaptive MIMO-ESO is designed not only to estimate the unmeasurable linear and angular velocities, but also to estimate the unknown external disturbances. An ISMC is then designed using Lyapunov synthesis, and an adaptive gain update algorithm is introduced to estimate the upper bound of the uncertainties. Rigorous theoretical analysis is performed…

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550
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Topics & keywords

Topics
Keywords
  • Control theory (sociology)
  • Integral sliding mode
  • Sliding mode control
  • MIMO
  • Underwater
  • State observer
  • Lyapunov function
  • Observer (physics)
UN Sustainable Development Goals
  • Life below water
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