Disturbance Observer Based Control for a Remotely Operated Vehicle

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.