Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Autonomous Underwater Vehicle Control Using a Nonlinear Disturbance Observer Based Sliding Mode Controller

비선형 외란 관측기 기반 슬라이딩 모드 제어기를 활용한 자율 무인 잠수정 제어

  • Soobin Ji (Department of Autonomous Vehicle System Engineering, Chungnam National University) ;
  • Seongjun Yoo (Department of Autonomous Vehicle System Engineering, Chungnam National University) ;
  • Wonkeun Youn (Department of Autonomous Vehicle System Engineering, Chungnam National University)
  • 지수빈 (충남대학교 자율운항시스템공학과) ;
  • 유성준 (충남대학교 자율운항시스템공학과) ;
  • 윤원근 (충남대학교 자율운항시스템공학과)
  • Received : 2024.01.02
  • Accepted : 2024.06.10
  • Published : 2024.08.20
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Abstract

The sliding mode controller has characteristics that ensure stability and robustness against system uncertainty and disturbance. However, chattering occurs in the control inputs to compensate for system uncertainties and ensure that the system operates efficiently on the sliding surface. When the disturbance is large, using a sliding mode controller requires a large control gain value, which also increases chattering and reduces performance. Therefore, in this study, a nonlinear disturbance observer was used to compensate for external disturbances such as currents and waves and uncertainty in the control system for autonomous underwater vehicles. Accordingly, a robust controller can be implemented while reducing the control gain. The disturbance observer serves to ensure that the behavior of the actual system is closer to the nominal model by compensating for uncertainties between the actual system model and the nominal model during the control process. Therefore, the simulation results show that the performance and robustness of the autonomous underwater vehicle controller are improved by introducing a disturbance observer.

Keywords

Acknowledgement

이 연구는 2023년 국방과학연구소 미래 도전 국방기술 연구개발사업 (No. 915071101)의 지원을 받았음.

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