STA-based design of an adaptive disturbance observer for autonomous underwater vehicles: From concept to real-time validation

 

Resumen:
In this paper, we propose to improve the robustness of the well-known PD controller through an adaptable disturbance observer. The proposed disturbance observer is based on the Super-Twisting Algorithm, and is designed with adaptive gains. The stability analysis of the resulting closed-loop controller/observer is achieved using Lyapunov arguments. Real-time experiments in different operating conditions are conducted to demonstrate the effectiveness and robustness of the proposed methodology, compared to the nominal PD control

Autores

  • Jorge Torres

Revista. Control Engineering Practice

https://doi.org/10.1016/j.conengprac.2023.105831.
 

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27/09/2024 01:56:55 p. m.