A Sliding Observer for Closed-circuit Underwater Breathing Apparatus
| Authors: | Garofalo Francesco, University of Napoli Federico II, Italy
Iannelli Luigi, University of Sannio in Benevento, Italy
Manfredi Sabato, University of Napoli Federico II, Italy
Santini Stefania, University of Napoli Federico II, Italy |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems I |
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| Keywords: | Nonlinear control systems, Sliding mode, Observers, Lyapunov methods, Real-time systems. |
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Abstract
In this paper the estimation problem of the metabolic consumption rate in an underwater breathing apparatus is addressed. A sliding mode observer designed on a nonlinear model of the rebreather system is proposed. The design is based on Lyapunov techniques and a convergence analysis of the estimation error has been carried on. The effectiveness of the sliding observer has been validatedthrough extensive simulations.
