Browse > Article
http://dx.doi.org/10.5391/JKIIS.2009.19.2.168

State Estimation for Underwater Vehicles by Means of Cascade Observers  

Kim, Dong-Hun (경남대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.19, no.2, 2009 , pp. 168-173 More about this Journal
Abstract
This paper investigates the estimation problem of vehicle velocity and propeller angular velocity on the underwater vehicle. Inspired by but different from a high-gain observer, the cascade observer features a cascade structure and adaptive observer gains. In doing so the cascade observer attempts to overcome some of the typical problems that may pose to a high-gain observer. As in the case of a high-gain observer, the cascade observer structure is simple and universal in the sense that it is independent of the system dynamics and parameters. A cascade observer is used for the estimation of velocity from measured position. In the 1st step of the observer, the output is estimated, and the 1st order derivative of measured output is estimated via the 2nd step of the observer. Also, nth order derivative of the output is estimated in the (n+1)th step of the observer. It is shown that the proposed observer guarantees globally asymptotical stability. By simulation results, the proposed observer scheme for the estimations of vehicle velocity and propeller angular velocity shows better performance than the scheme based on the existing observer.
Keywords
Underwater vehicle; velocity estimation; observer design; adaptive law;
Citations & Related Records
연도 인용수 순위
  • Reference
1 A. Tornambe, 'Use of asymptotic observer having high-gains in the state and parameter estimation,' Proceedings of the 28th IEEE Conference on Decision and Control, pp. 1791-1794. 1989   DOI
2 J. A. Heredia and W. Yu, 'A high-gain observer-based PD control for robot manipulator,' American Control Conference, pp. 2518-2522, 2000
3 A. Isidori, Nonlinear Control Systems, Springer-Verlag, 1995
4 J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, 1991
5 G. Besancon, 'Further Results on High Gain Observers for Nonlinear Systems,' Proceedings of the 38th IEEE Conference on Decision and Control, vol. 3, pp. 2904-2909. 1999
6 S. Zhao, J. Yuh and H. T. Choi, 'Adaptive DOB control of underwater robotic vehicles,' MTS/IEEE Conference and Exhibition on OCEANS, vol. 1, pp. 397-402. 2001
7 W. Lohmiller and J. E. Slotine, 'Control system design for mechanical systems using contraction theory,' IEEE Trans. Automat. Contr., vol. 45, no. 5, pp. 984-989, 2000   DOI   ScienceOn
8 F. Alonge, F. D'Ippolito and F. M. Raimondi, 'Trajectory tracking of underactuated underwater vehicles,' Proceedings of the 40th IEEE Conference on Decision and Control, pp. 4421-4426. 2001
9 A. Tornambe, 'Use of asymptotic observers having high-gains in the state and parameter estimation,' Proceedings of the 28th IEEE Conference on Decision and Control, pp. 1791-1794, 1989   DOI
10 S. Seshagiri and H. K. Khalil, 'Longitudinal adaptive control of a platoon of vehicles,' Proceedings of the American Contr. Conf., pp. 3681-3685, 1999
11 E. S. Shin and K. W. Lee, 'Robust output feedback control of robot manipulators using high-gain observer,' Proceedings of the IEEE International Conference on Control Applications, vol. 1, pp. 881-886, 1999
12 A. Tornambe, 'High-gain observers for nonlinear systems,' Int. J. of Systems Science, pp, 1475-1489. 1992
13 G. Antonelli, F. Caccavale, S. Chiaverini and L. Villani, 'Tracking control for underwater vehicle-manipulator systems with velocity estimation,' IEEE Trans. Oceanic Engineering, vol. 25, no. 3, pp. 399-413, 2000   DOI   ScienceOn
14 E. Bullinger and F. Allgower, 'An adaptive high-gain observer for nonlinear systems,' Proceedings of the 36th IEEE Conference on Decision and Control, pp. 4348-4353. 1997
15 W. Lohmiller and J. E. Slotine, 'Applications of metric observers for nonlinear systems,' Proceedings of the IEEE International Conference on Control Applications, pp. 367-372, 1996
16 G. Besancon, 'Further results on high gain observers for nonlinear systems,' Proceedings of the 38th IEEE Conference on Decision and Control, pp. 2904-2909, 1999
17 H. Hammouri and N. Marchand, 'High gain observer for a class of implicit systems,' Proceedings of the 39th IEEE Conference on Decision and Control, pp, 804-808, 2000
18 H. K. Khalil, 'Adaptive output feedback control of nonlinear systems represented by input-output models,' IEEE Trans. Automat. Contr., vol. 41, no. 2, pp. 177-188, 1996   DOI   ScienceOn
19 D. Yoerger, J. Cooke and J. J. Slotine, 'The influence of thruster dynamics on underwater vehicle behavior and their incorporation into control system design,' IEEE Trans. Oceanic Engineering, vol. 15, no. 3, pp. 167-178, 1990   DOI   ScienceOn
20 A. Isidori, Nonlinear Control Systems, Springer-Verlag, 1995
21 P. A. Ioannou and J. Sun, Robust Adaptive Control, Prentice Hall, 1996
22 A. Dabroom, H. K. Khalil, 'Discrete-time implementation of high-gain observers for numerical differentiation,' International Journal of Control, vol. 72, no. 17, pp. 1523-1537, 1999   DOI   ScienceOn
23 M. Fliess, 'Generalized controller canonical form for linear and nonlinear dynamics,' IEEE Trans. Automat. Contr., vol. 35, no. 9, pp, 994-1001, 1990   DOI   ScienceOn
24 G. Bartolini, E. Punta and E. Usai, 'Tracking control of underwater vehicles including thruster dynamics by second order sliding modes,' Proceedings of the IEEE International Conference on Oceans, vol. 3, pp. 1645-1649, 1998