测控技术2011，Vol.30Issue(4)：74-79,6.
AUV近水面运动非线性观测器设计
Nonlinear Observer Design for AUV in Shallow Water
葛晖 1高剑 2敬忠良 1徐德民2
作者信息
- 1. 上海交通大学,航空航天学院信息与控制研究所,上海200240
- 2. 西北工业大学,航海学院水下信息与控制国家重点实验室,陕西西安710072
- 折叠
摘要
Abstract
In order to overcome the disturbance from the waves in AUV low speed motion in shallow water, a new type of nonlinear observer based on passivity principle is designed. The observer can estimate AUV' s low frequency motion signals and environmental disturbance force from the synthetical signals including the low frequency motion signals, high frequency motion signals and noise from the sensors. The nonlinear observer designed based on the nonlinear AUV dynamic equations overcomes the limitation of traditional Kalman filter based on linearization theory. The stability of the observer is proved by the Lyapunov methods and the simulation on a fully actuated AUV validities the observer.关键词
AUV/近水面/低速/非线性观测器/无源性原理Key words
AUV/ shallow water/ low speed/ nonlinear observer/ passivity principle分类
信息技术与安全科学引用本文复制引用
葛晖,高剑,敬忠良,徐德民..AUV近水面运动非线性观测器设计[J].测控技术,2011,30(4):74-79,6.
