The AUV Heading Control System Based on Auto Disturbance Rejection Control Principle

摘要：

To deal with the disturbance of current and pulse moment in the heading control of Autonomous Underwater Vehicle(AUV), the paper presents an autodisturbance- rejection controller for the heading control system of AUV. By selecting an operating point for the derived nonlinear model of AUV in horizontal plane, a linear heading control model of AUV is obtained by linearizing the model at the operating point. An autodisturbance- rejection heading controller is designed based on auto-disturbance-rejection control theory. The computer simulation is demonstrated that the designed controller is effective to eliminate the current disturbance and yaw impulse moment. Further more, the experiment for the heading control in Lake shows the feasibility and practicability of the proposed method.

关键词： Autonomous Underwater Vehicle Auto-Disturbance-Rejection Control Motion Model Heading Control

作者: Jian Xu Zheping Yan Jie Zhao

作者单位: Robotics Institute,Harbin Institute of Technology,Harbin,Heilongjiang Province,China College of Auto College of Automation,Harbin Engineering University,Harbin,Heilongjiang Province,China Robotics Institute,Harbin Institute of Technology,Harbin,Heilongjiang Province,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）