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<p>This paper presents a tracking control strategy for underwater remotely operated vehicles (ROVs) that addresses modeling uncertainties and external disturbances. A nonlinear flatness-based internal model control (NLIMC) law is initially synthesized for a class of nonlinear systems. To mitigate the effects of modeling imperfections and unknown external disturbances, a novel nonlinear disturbance observer, incorporating exponential and hyperbolic tangent functions, is integrated with the NLIMC. This observer efficiently estimates the total disturbance and the system’s full states. The stability of the nominal controller and the exponential convergence of the observer’s error are rigorously proven using Lyapunov stability and Linear Matrix Inequality (LMI) theories. Compared to the traditional active disturbance rejection control method based on the linear Extended State Observer (ESO), and a disturbance observer-based sliding mode control, our proposed control strategy demonstrates superior performance in terms of precision, convergence speed, and disturbance rejection.</p>

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A Novel Nonlinear Extended State Observer-Based Internal Model Control for a Class of Nonlinear Systems Applied to Remotely Operated Vehicles

  • 期刊论文

  • 发表日期：

    2025年7月7日

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  • Habib Choukri Lamraoui,
  • Yasser Bouzid,
  • Abdelkrim Nemra

摘要

This paper presents a tracking control strategy for underwater remotely operated vehicles (ROVs) that addresses modeling uncertainties and external disturbances. A nonlinear flatness-based internal model control (NLIMC) law is initially synthesized for a class of nonlinear systems. To mitigate the effects of modeling imperfections and unknown external disturbances, a novel nonlinear disturbance observer, incorporating exponential and hyperbolic tangent functions, is integrated with the NLIMC. This observer efficiently estimates the total disturbance and the system’s full states. The stability of the nominal controller and the exponential convergence of the observer’s error are rigorously proven using Lyapunov stability and Linear Matrix Inequality (LMI) theories. Compared to the traditional active disturbance rejection control method based on the linear Extended State Observer (ESO), and a disturbance observer-based sliding mode control, our proposed control strategy demonstrates superior performance in terms of precision, convergence speed, and disturbance rejection.