A Structure-inspired Disturbance Observer for an Underwater Vehicle*. Issue 31 (2022)

• Record Type: Journal Article
• Authors: Chen, Ying-Chun; Woolsey, Craig A.
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 31(2022)
• Page Start: 505
• Page End: 510
• Publication Date: 2022
• Subjects: Disturbance observer -- nonlinear estimation -- underwater vehicle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.10.477
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: An observer is designed to estimate the disturbance force and moment acting on an underwater vehicle. The observer design leverages the structure of the nonlinear dynamic model. Provided the dynamics are sufficiently slow, the designer may choose observer parameters to ensure that the estimate error is locally, ultimately bounded and converges to an arbitrarily small neighborhood of the origin.