This paper presents a Disturbance Observer Based Control scheme which deals with the full pose tracking control problem of a Remotely Operated Vehicle. The uncertainties are lumped, estimated by a Nonlinear Disturbance Observer and feed-forwarded in a tracking controller. The solutions only relies on known quantities, providing a dynamic disturbance compensation and ultimately bounded errors. The order of the disturbance observer is a design parameter, which is able to provide additional integral actions. Finally, numerical simulations test the proposed technique.
Disturbance Observer Based Control for a Remotely Operated Vehicle / Baldini, A.; Felicetti, R.; Freddi, A.; Monteriu', A.. - In: IFAC PAPERSONLINE. - ISSN 2405-8971. - 58:(2024), pp. 487-492. (Intervento presentato al convegno 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, CAMS 2024 tenutosi a Blacksburg, VA, United States, nel 2024) [10.1016/j.ifacol.2024.10.101].
Disturbance Observer Based Control for a Remotely Operated Vehicle
Baldini A.;Felicetti R.;Freddi A.;Monteriu' A.
2024-01-01
Abstract
This paper presents a Disturbance Observer Based Control scheme which deals with the full pose tracking control problem of a Remotely Operated Vehicle. The uncertainties are lumped, estimated by a Nonlinear Disturbance Observer and feed-forwarded in a tracking controller. The solutions only relies on known quantities, providing a dynamic disturbance compensation and ultimately bounded errors. The order of the disturbance observer is a design parameter, which is able to provide additional integral actions. Finally, numerical simulations test the proposed technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
