TY - GEN
T1 - Horizontal plane motion control of AUV based on active disturbance rejection controller
AU - Li, Juan
AU - Kong, Ming
AU - Naeim, Farouk
AU - Chen, Xing Hua
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/17
Y1 - 2015/7/17
N2 - Autonomous underwater vehicle (AUV) is a nonlinear system with characteristics of strong coupling, parameter perturbations, non-modeling disturbance, and vulnerable to the external environment (waves, currents, etc.) disturbance, etc. In this paper, studies the method based on active disturbance rejection control (ADRC) to meet the AUV underwater autonomous navigation and high precision control performance index. ADRC has strong ability of anti-interference, it can attribute system's internal and external disturbance to the system's total disturbance, implementation of the system's real-time estimation and effective compensation. The result of simulation shows that the AUV ADRC horizontal movement system designed in this paper, can effectively resist the influence of external environment disturbing force such as currents, effectively improve the anti-interference performance of the system. Compared with the classical PID control, this method can better meet the requirements of system for high precision control performance index.
AB - Autonomous underwater vehicle (AUV) is a nonlinear system with characteristics of strong coupling, parameter perturbations, non-modeling disturbance, and vulnerable to the external environment (waves, currents, etc.) disturbance, etc. In this paper, studies the method based on active disturbance rejection control (ADRC) to meet the AUV underwater autonomous navigation and high precision control performance index. ADRC has strong ability of anti-interference, it can attribute system's internal and external disturbance to the system's total disturbance, implementation of the system's real-time estimation and effective compensation. The result of simulation shows that the AUV ADRC horizontal movement system designed in this paper, can effectively resist the influence of external environment disturbing force such as currents, effectively improve the anti-interference performance of the system. Compared with the classical PID control, this method can better meet the requirements of system for high precision control performance index.
KW - Active disturbance rejection control
KW - Anti-interference performance
KW - Autonomous Underwater Vehicle
UR - http://www.scopus.com/inward/record.url?scp=84945536290&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2015.7161909
DO - 10.1109/CCDC.2015.7161909
M3 - Conference contribution
AN - SCOPUS:84945536290
T3 - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
SP - 6118
EP - 6123
BT - Proceedings of the 2015 27th Chinese Control and Decision Conference, CCDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th Chinese Control and Decision Conference, CCDC 2015
Y2 - 23 May 2015 through 25 May 2015
ER -