The design of active disturbance rejection control law of underwater high-speed vehicle longitudinal channel
Aiming at nonlinearity of underwater high-speed vehicle model and the existence of external disturbance, the paper proposes a new way of using active disturbance rejection controller to design vehicle control system. Through making research on nonlinear model of vehicle, extended state observer is applied for observing system nonlinearity, coupling terms and external disturbances, and are compensated in feedback, by which dynamic feedback linearization and decoupling control are realized. Then, a nonlinear feedback controller is designed. The simulation studies indicate the system has favorable dynamic performance and the controller has strong robustness.
Active disturbance rejection controller (ADRC) Underwater high-speed vehicle Planing force Extended state observer (ESO)
Yuntao Han Zengkun Qi
College of Automation, Harbin Engineering University, Harbin 150001, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
975-978
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）