Depth Control of AUV Using Active Disturbance Rejection Controller

摘要：

　　The intelligent motion control technology of Autonomous Underwater Vehicle(AUV)is the basis of long-distance voyage for AUV.The motion control capability in vertical plane is an important technical for AUV to complete multifarious missions.So,it is important and realistic significance to research on motion control in vertical plane of AUV.Motion control problem of AUV in vertical plane,especially depth control problems is researched based on active disturbance rejection control(ADRC)method in this paper.The kinetic and dynamic model in vertical plane of AUV is established and simplified.The active disturbance rejection controller design method is introduced.Detailed algorithms of each part for active disturbance rejection controller are discussed according to separability principle of ADRC.Based on ADRC,the depth controller is designed and applied in AUV.At last,simulation results indicate that the method is feasibility and effectiveness for AUV depth control.

关键词： Autonomous Underwater Vehicle Depth Control Active Disturbance Rejection Controller

作者: CHEN Tao ZHANG Wei ZHOU Jiajia YU Haomiao LIU Xiaofu HAO Yue

作者单位: College of Automation,Harbin Engineering University,Harbin,Heilongjiang Province,150001

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 7948-7952

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）