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The State Estimator for Underwater Vehicle Systems
Kim, Hwan-Seong,You, Sam0Sang,Lee, Jin-Woo 한국해양대학교 산업기술연구소 2003 연구논문집 Vol.20 No.-
In this paper, an estimation method for extimating teh states of underwater vehicle systems with external unknown disturbance is proposed. First, the dynamics of underwater vehicle are induced by Taylor series expansion in the vertical plane and horizontal plane, respectively. For constructing the vehicle model, the external efforts, i.e., the sea surface disturbances, the current, wave and etc., are regarded as external unknown disturbances. Thus the disturbances is added as external input into state-space form of underwater vehicle systems. To estimate the state of systems with unknown disturbance, a disturbance observer which does not effected the external unknown input is proposed, and the existence condition for the observer is given. Finally, the effectiveness of the proposed disturbance observer for underwater vehicle systems is verified by using numerical simulation.