The AUV Heading Control System Based on Auto Disturbance Rejection Control Principle
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.
Autonomous Underwater Vehicle Auto-Disturbance-Rejection Control Motion Model Heading Control
Jian Xu Zheping Yan Jie Zhao
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
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20(万方平台首次上网日期,不代表论文的发表时间)