Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities

Cui, Rongxin; Chen, Lepeng; Yang, Chenguang; Chen, Mou

doi:10.1109/tie.2017.2694410

Public

Extended State Observer-Based Integral Sliding Mode Control for an Underwater Robot With Unknown Disturbances and Uncertain Nonlinearities

Published in IEEE Transactions on Industrial Electronics • Apr 17, 2017

Authors:

Rongxin Cui

Lepeng Chen

Chenguang Yang

Abstract

This paper develops a novel integral sliding mode controller (ISMC) for a general type of underwater robots based on multiple-input and multiple-output extended-state-observer (MIMO-ESO). The difficulties associated with the unmeasured velocities, unknown disturbances, and uncertain hydrodynamics of...

Subject

Control theory (sociology)

Integral sliding mode

Sliding mode control

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