AUV近水面运动非线性观测器设计

Nonlinear Observer Design for AUV in Shallow Water

针对AUV近水面低速运动中的波浪扰动问题,基于无源性原理设计了一种非线性状态观测器。观测器可以从包含高频运动信号、低频运动信号以及传感器噪声信号的AUV综合运动信号中估计出AUV的低频运动信号以及环境扰动作用力。该观测器克服了传统的线性化Kalman滤波器的缺陷,直接针对AUV的非线性模型进行观测器设计,用李亚普诺夫稳定性定理证明了观测器的全局收敛性,该非线性状态观测器的性能通过针对全驱动AUV的近水面运动进行仿真得到了验证。

In order to overcome the disturbance from the waves in AUV low speed motion in shallow water,a new type of nonlinear observer based on passivity principle is designed.The observer can estimate AUV＇s low frequency motion signals and environmental disturbance force from the synthetical signals including the low frequency motion signals,high frequency motion signals and noise from the sensors.The nonlinear observer designed based on the nonlinear AUV dynamic equations overcomes the limitation of traditional Kalman filter based on linearization theory.The stability of the observer is proved by the Lyapunov methods and the simulation on a fully actuated AUV validities the observer.