Design of submarine heading sliding mode controller based on NESO

  Objectives  To realize submarine steering control with low noise when a submarine sails on a surface in a complex sea state,

  Methods  a heading controller is designed based on linear motion model on horizontal plane. A sliding mode control based on double power reaching law is adopted, which has the advantages of insensitivity to parameter changes and external disturbances, fast response, and easy implementation. To solve the wave disturbance problem, a wave filter is designed using a Nonlinear Extended State Observer(NESO)to compensate the external disturbance.

  Results  The stability of the heading sliding mode controller is proved by theoretical derivation. The Matlab simulation results verify its good filtering effect.

  Conclusions  The results show that performance of low noise, fast and high precision are achieved with the heading sliding mode controller at different speeds, different sea conditions and different wave angles.