Auto Disturbance Rejection Control System of Diving for an Underactuated AUV

摘要：

The diving control problem of an underactuated autonomous underwater vehicle (AUV) was addressed in this paper. In order to deal with the uncertainties and nonlinear dynamics, an auto-disturbance-rejection controller(ADRC) was introduced to guarantee the robustness and stability during diving. The simulation results demonstrated that this proposed controller was effective to eliminate the disturbances caused by vehicles nonlinear and model uncertainty. Further more, the feasibility and practicability of the proposed method is verified by an experiment for the diving control in Lake.

关键词： autonomous underwater vehicle(AUV) tracking differentiator extended state observer diving control

作者: Jian Xu Jiajia Zhou Honghan Zhang Xinqian Bian

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

会议类型: 国际会议

会议名称: The Fourth International Joint Conference on Computational Science and Optimization(第四届计算科学与优化国际大会 CSO 2011)

会议地点: 昆明、丽江

会议语种:英文

页码: 982-986

在线出版日期: 2011-04-15（万方平台首次上网日期，不代表论文的发表时间）