A study on robust control method of underwater vehicle using SMCSPO

摘要: The application of robust control method is required for the design automatic system unmanned underwater vehicle which operated in environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome chattering phenomenon a weak point sliding mode control. This can be applied operating strong environmental disturbances because it has advantage estimating and compensating nonlinear components, modeling uncertainties system. In this study, with perturbation observer (SMCSPO) simulated an evaluate disturbance compensation performance compare PID controller.