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Flight Control of Underwater UAV Based on Extended State Observer and Sliding Mode Method

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Methods and Applications for Modeling and Simulation of Complex Systems (AsiaSim 2022)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1712))

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Abstract

Disturbance rejection control of underwater UAV is a key technology. First of all, In this paper, the model of underwater UAV will be established, and the closed-loop control system will be constructed according to the virtual control quantity. Then, sliding mode controllers and extended state observer are designed to realize the attitude and position control. Finally, the simulation is performed to show the robustness of UAV. It can be proved that under the influence of inhomogeneous media, UAV can still have good robustness and compensate for interference.

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Author information

Authors and Affiliations

  1. China Ship Scientific Research Center, Wuxi, 214082, China

    Canhui Tao, Zhi** Song & Baoshou Wang

Authors
  1. Canhui Tao
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  2. Zhi** Song
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  3. Baoshou Wang
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Corresponding author

Correspondence to Canhui Tao .

Editor information

Editors and Affiliations

  1. Tsinghua University, Bei**g, China

    Wenhui Fan

  2. Beihang University, Bei**g, China

    Lin Zhang

  3. Beihang University, Bei**g, China

    Ni Li

  4. Beihang University, Bei**g, China

    **%20Song%2C%20Baoshou%20Wang&contentID=10.1007%2F978-981-19-9198-1_22&copyright=The%20Author%28s%29%2C%20under%20exclusive%20license%20to%20Springer%20Nature%20Singapore%20Pte%20Ltd.&publication=eBook&publicationDate=2022&startPage=293&endPage=304&imprint=The%20Author%28s%29%2C%20under%20exclusive%20license%20to%20Springer%20Nature%20Singapore%20Pte%20Ltd.">Reprints and permissions

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Tao, C., Song, Z., Wang, B. (2022). Flight Control of Underwater UAV Based on Extended State Observer and Sliding Mode Method. In: Fan, W., Zhang, L., Li, N., Song, X. (eds) Methods and Applications for Modeling and Simulation of Complex Systems. AsiaSim 2022. Communications in Computer and Information Science, vol 1712. Springer, Singapore. https://doi.org/10.1007/978-981-19-9198-1_22

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  • DOI: https://doi.org/10.1007/978-981-19-9198-1_22

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-9197-4

  • Online ISBN: 978-981-19-9198-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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