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The State Estimation by Unknown Disturbance Observer of Underwater Vehicle System for Robust Control  

Lee, Jin-Woo (Korea Occupational Safety & Health Agency)
Kim, Hwan-Seong (Department of Logistics Engineering, Korea Maritime University)
An, Young-Joo (Division of Electrical and Control Instrumentation Engineering, Pukyong National University)
Publication Information
Journal of the Korean Society of Safety / v.18, no.4, 2003 , pp. 169-175 More about this Journal
Abstract
In this paper, and estimation method for estimating the states of underwater vehicle systems with external unknown disturbance is proposed. First, the dynamics of underwater vehicle are induced by Taylor series expansion in the vertical plane and horizontal plane, respectively. For constructing the system model, the external efforts, i.e., the sea surface disturbances, the current, wave and etc., are regarded as external unknown disturbances. Thus the disturbance is added as external input into state-space form of underwater vehicle system. To estimate the state of systems with unknown disturbance, a disturbance observer which does not effected the external unknown input is proposed, and the existence condition for the observer is given. Finally, the effectiveness of the proposed disturbance observer for robust control of underwater vehicle systems is verified by using numerical simulation.
Keywords
disturbance observer; estimation; underwater vehicle; external disturbance;
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